Optical fiber probe for position measurement

• US 5,907,395 A
• Filed: 06/06/1997
• Issued: 05/25/1999
• Est. Priority Date: 06/06/1997
• Status: Expired

• Current Assignee: Image Guided Technologies, Inc. (Stryker Corporation)
• Original Assignee: Image Guided Technologies, Inc. (Stryker Corporation)
• Inventors: Harrison, Daniel J., Faul, Ivan, Schulz, Waldean A., Pasquini, Ronald M.
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US08/870,296
• Time in Patent Office: 718 Days
• Field of Search: 356/139.03, 356/141.3, 356/141.5, 356/375, 600/476, 606/130
• US Class Current: 356/139.03
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01S 1/7032 Transmitters
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves

Abstract

Improved point source electromagnetic radiation emitters including a dispersing element that radiates electromagnetic radiation over a very wide conical angle of approaching about 180°. This light dispersing element can be in any one or more of several illustrated forms such as a light diffusing spherical or hemispherical element, a planar diffusing plate, a tapered light guide, a plano-concave lens, a convex mirror, a light pipe with a large numerical aperture, or the like. The emitter of this invention may be fixed to an object and tracked in a 3-dimensional volume by a system using electro-optical position sensors in order to determine the spatial location of the emitters and therefore to determine, by geometry, the position and orientation of the object. The electromagnetic radiation generator is preferably disposed remote from the emitter and is electrically and magnetically isolated from the emitter. A common optical fiber provides transmission of the radiation from the generator to the emitter. The emitted radiation more nearly resembles point source of radiation and therefore enables more accurate determination of the location of the radiating element, and thereby more accurate determination of the position and orientation of the object on which the emitters reside. The preferred electromagnetic radiation generator is an LED, most preferably a laser diode.

Claims

1. An apparatus for determining the location of at least one point in three dimensional space relative to a three dimensional coordinate system defining said space comprising:

at least one emitter of electromagnetic radiation, comprising a radiation dispersing element which emits said radiation in a substantially conical pattern which at least approaches a solid angle of about 180°

, wherein said radiation emission pattern has a centroid such that it at least closely approximates a point source of said radiation thereby causing said centroid of said electromagnetic radiation to be in a substantially invariant relationship to said emitter of said radiation regardless of the angle from which the centroid of the emitted radiation is viewed;

an electromagnetic radiation generator operatively associated with each of said emitters;

means for transmitting electromagnetic radiation generated by said generator to said emitter;

a plurality of electromagnetic radiation sensors, each of which is adapted to detect at least one electromagnetic ray emitted from at least one of said emitters;

a power supply for said electromagnetic radiation generator;

where there are a plurality of emitters, means to differentiate electromagnetic radiation emitted by at least two of said emitters; and

means for determining the location of said emitter relative to the three dimensional coordinate system;

wherein, as a consequence of said emitters emitting electromagnetic radiation at a solid angle of at least approaching 180°

, determining the location of said emitters with greater accuracy than would have been the accuracy determined had the electromagnetic radiation been generated without said dispersing element.

2. The apparatus as claimed in claim 1, wherein at least one of said dispersing element comprises a diffuser.

3. The apparatus as claimed in claim 2, wherein the diffuser is substantially a section of a sphere.

4. The apparatus as claimed in claim 2, wherein the diffuser is substantially flat.

5. The apparatus as claimed in claim 1, wherein at least one of said emitters comprises a light pipe image guide which is so shaped as to be capable of emitting electromagnetic radiation from an end thereof at a solid angle at least approaching 180°

.

6. The apparatus as claimed in claim 1, wherein at least one of said emitters comprises a concave lens with a negative focal length capable of emitting electromagnetic radiation at a solid angle at least approaching 180°

.

7. The apparatus as claimed in claim 1 wherein at least one of said emitters comprises a curved, convex mirror capable of emitting reflected electromagnetic radiation at a solid angle at least approaching 180°

.

8. The apparatus as claimed in claim 1 wherein said electromagnetic radiation comprises visible light.

9. The apparatus as claimed in claim 1 wherein said electromagnetic radiation comprises infra red light.

10. The apparatus as claimed in claim 1 wherein said electromagnetic radiation comprises ultra violet light.

11. The apparatus of claim 1 comprising a plurality of emitters.

12. The apparatus as claimed in claim 1 comprising a separate electromagnetic radiation generator associated with each emitter.

13. The apparatus as claimed in claim 11 wherein each of said emitters radiates at a different wavelength.

14. The apparatus as claimed in claim 1 wherein said at least one emitter is disposed on an object in said three dimensional space, and wherein said electromagnetic radiation generator is disposed proximate to said emitter.

15. The apparatus as claimed in claim 1 wherein said at least one emitter is disposed on an object in said three dimensional space, said electromagnetic radiation generator is disposed a distance from said emitter, and at least one electromagnetic radiation guide is disposed therebetween in operative relationship to both said generator and said emitter.

16. The apparatus as claimed in claim 14 wherein said electromagnetic radiation generator is disposed in or on said object sufficiently proximate to said emitter as to exclude a radiation guide therebetween.

17. The apparatus as claimed in claim 15 wherein said electromagnetic radiation generator is powered by electricity, and wherein said emitter and said object are substantially electrically neutral.

18. The apparatus as claimed in claim 15 wherein said electromagnetic radiation generator is powered by electricity, and wherein said emitter and said object are substantially magnetically neutral.

19. The apparatus as claimed in claim 15 wherein said at least one emitter is unconnected to a source of electricity.

20. An electrically neutral system for radiating electromagnetic radiation from an effective point source comprising:

an electromagnetic radiation generator;

an emitter of electromagnetic radiation comprising a radiation dispersing element which emits said electromagnetic radiation in a substantially conical pattern through a solid angle which at least approaches 180°

,

wherein said radiation emission has a centroid such that it at least closely approximates a point source of said radiation thereby causing said centroid of said electromagnetic radiation to be in a substantially invariant relationship to the emitter of said radiation regardless of the angle from which the centroid of emitted radiation is viewed, and

wherein said emitter is disposed a distance from said generator;

at least one optical fiber disposed in operative relationship to both said generator and said emitter such that it is adapted to transmit electromagnetic radiation from said generator to said emitter; and

an electric power source operatively associated with said electromagnetic radiation generator, wherein said generator is substantially electrically and magnetically isolated from said emitter.

21. The apparatus as claimed in claim 20 wherein at least one of said dispersing element comprises a diffuser.

22. The apparatus as claimed in claim 21 wherein the diffuser is substantially a section of a sphere.

23. The apparatus as claimed in claim 21 wherein the diffuser is substantially flat.

24. The apparatus as claimed in claim 20 wherein at least one of said emitters comprises a light pipe image guide which is so shaped as to be capable of emitting electromagnetic radiation from an end thereof at a solid angle at least approaching 180°

.

25. The apparatus as claimed in claim 20 wherein at least one of said emitters comprises a concave lens with a negative focal length capable of emitting electromagnetic radiation at a solid angle at least approaching 180°

.

26. The apparatus as claimed in claim 20 wherein at least one of said emitters comprises a curved, convex mirror capable of emitting reflected electromagnetic radiation at a solid angle at least approaching 180°

.

27. The apparatus as claimed in claim 20 wherein said electromagnetic radiation comprises visible light.

28. The apparatus as claimed in claim 20 wherein said electromagnetic radiation comprises infra red light.

29. The apparatus as claimed in claim 20 wherein said electromagnetic radiation comprises ultra violet light.

30. The apparatus as claimed in claim 20 comprising a plurality of emitters.

31. The apparatus as claimed in claim 20 comprising a separate electromagnetic radiation generator associated with each emitter.

32. The apparatus as claimed in claim 30 wherein each of said emitters radiates at a different wavelength.

33. The apparatus as claimed in claim 20 wherein said at least one emitter is disposed on an object in said three dimensional space, and wherein said electromagnetic radiation generator is disposed proximate to said emitter.

34. The apparatus as claimed in claim 20 wherein said at least one emitter is disposed on an object in said three dimensional space, said electromagnetic radiation generator is disposed a distance from said emitter, and at least one electromagnetic radiation guide is disposed therebetween in operative relationship to both said generator and said emitter.

35. The apparatus as claimed in claim 33 wherein said electromagnetic radiation generator is disposed in or on said object sufficiently proximate to said emitter as to exclude a radiation guide therebetween.

36. The apparatus as claimed in claim 34 wherein said electromagnetic radiation generator is powered by electricity, and wherein said emitter and said object are substantially electrically neutral.

37. The apparatus as claimed in claim 34 wherein said electromagnetic radiation generator is powered by electricity, and wherein said emitter and said object are substantially magnetically neutral.

38. The apparatus as claimed in claim 34 wherein said at least one emitter is unconnected to a source of electricity.

39. A method of accurately determining the location of a point in three dimensional space which comprises:

electrically generating electromagnetic radiation;

non-electrically transmitting said electromagnetic radiation to an emitter, comprising a radiation dispersing element, so constructed as to emit electromagnetic radiation therefrom in a conical array through a solid angle at least approaching 180°

;

non-electrically emitting said electromagnetic radiation from said dispersing element in a substantially conical pattern over a solid angle that at least approaches about 180°

; and

thereby causing a centroid of said emitted electromagnetic radiation to at least closely approximate a point source of said radiation which is substantially invariant with respect to the emitter of said radiation regardless of the angle from which said emitted radiation is viewed.

40. A method as claimed in claim 39 further comprising generating said electromagnetic radiation a distance from said emitter;

transporting said generated electromagnetic radiation non-electrically through at least one optical fiber from said electromagnetic generator to said emitter; and

maintaining said emitter electrically and mechanically substantially neutral.

41. A method as claimed in claim 39 further including disposing at least one of said emitter on a three dimensional object;

disposing an electromagnetic generator in operative association with a radiation guide in operative relationship with each of said emitters and remote from said object; and

maintaining said object electrically and magnetically substantially neutral with respect to said electromagnetic generator.

42. A method of determining the position and orientation of at least one three dimensional object in a three dimensional space defined by a coordinate system which comprises:

disposing a plurality of electromagnetic emitters, comprising a dispersing element so constructed as to radiate electromagnetic radiation in a substantially conical pattern over a solid angle that at least approaches about 180°

in known spaced apart relationship to each other on a surface of said object;

providing at least one electromagnetic radiation generator spaced from said object;

providing a non-electric radiation guide operatively associated with each emitter and with said at least one generator;

generating electromagnetic radiation from each of said generators;

transmitting said radiation, non-electrically through said radiation guides to said emitters;

non-electrically radiating a substantially conical pattern of radiation from at least one of said dispersing elements;

receiving said emitted radiation by a plurality of electromagnetic radiation receivers;

determining the location of each emitter as a function of the angles between said received radiation and respective reference lines; and

converting said determined locations of said emitters to a position and orientation of said object in said three dimensional space.

43. A method as claimed in claim 42 wherein said dispersing element comprises a diffuser.

44. A method as claimed in claim 42 wherein said dispersing element comprises a section of a sphere.

45. A method as claimed in claim 42 wherein said dispersing element comprises a light pipe image guide so constructed as to emit said electromagnetic radiation over a solid conical angle at least approaching 180°

.

46. A method as claimed in claim 43 wherein said diffuser comprises a substantially flat plate.

47. A method as claimed in claim 42 wherein said dispersing element comprises a concave lens with a negative focal length.

48. A method as claimed in claim 42 wherein said dispersing element comprises a convex mirror.