Six-degree of freedom tracking system having a passive transponder on the object being tracked

• US 6,380,732 B1
• Filed: 08/11/1999
• Issued: 04/30/2002
• Est. Priority Date: 02/13/1997
• Status: Expired due to Term

• Current Assignee: Covidien LP (Medtronic Plc)
• Original Assignee: Super Dimension Ltd.
• Inventors: Gilboa, Pinhas
• Primary Examiner(s): Strecker, Gerard R.
• Application Number:
  US09/367,318
• Publication Number:
  US 20020030483A1
• Time in Patent Office: 993 Days
• Field of Search: 324/207-5-2, 324/207.26, 324/243, 324/247, 324/260, 89/411.9, 89/412.1, 434/1, 340/551, 340/552, 340/572.2, 340/572.5, 342/450, 342/451, 702/152, 702/153, 600/424, 463/37-39, 455/41
• US Class Current: 324/207.17
• CPC Class Codes: A61B 2017/00411 actuated by application of energy from an energy source outside the body
• CPC Class Codes: A61B 2090/3975 active
• CPC Class Codes: F41G 3/225 Helmet sighting systems
• CPC Class Codes: G01B 7/004 for measuring coordinates of points
• CPC Class Codes: G01R 33/02 Measuring direction or magnitude of magnetic fields or magnetic flux G01R33/20 takes precedence
• CPC Class Codes: G01S 13/66 Radar-tracking systems; Analogous systems
• CPC Class Codes: G01S 13/874 Combination of several systems for attitude determination in general G01C, control of attitude G05D1/49
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence

Abstract

This invention discloses a system for tracking one or more objects (22) within a region of interest, including at least one electromagnetic field generator (20), fixed with respect to an external frame of reference, at least one passive transponder (30), fixed to an object (22) being tracked, wherein an electromagnetic field generated by the electromagnetic field generator (20) causes the transponder (30) to generate electromagnetic signals and at least one electromagnetic sensor (24), fixed with respect to the external frame of reference, which receives electromagnetic signals generated by the transponder (30) and determines the three-dimensional position and three-axis rotational orientation of the object (20) using these signals. A method of tracking translation and rotation of one or more objects within a region of interest is also disclosed.

Claims

1. A system for tracking one or more objects within a region of interest, comprising:

at least one electromagnetic field generator, fixed with respect to an external frame of reference, each said at least one electromagnetic field generator including a coil, each said at least one electromagnetic field generator being operative to generate a respective excitation field;

at least one passive transponder, fixed to an object being tracked, wherein an electromagnetic field generated by the electromagnetic field generator causes the transponder to generate electromagnetic signals; and

at least one electromagnetic sensor, fixed with respect to the external frame of reference, which receives electromagnetic signals generated by the transponder and determines the three-dimensional position and three-axis rotational orientation of the object using these signals;

each said at least one electromagnetic sensor including a coil, each said at least one electromagnetic sensor having a respective response field;

wherein, for each of said coils;

if said each coil is included in one of said at least one electromagnetic field generator, said respective excitation field of said one of said at least one electromagnetic field generator is a function of a position, an orientation, and a geometric configuration of said each coil; and

if said each coil is included in one of said at least one electromagnetic sensor, said respective response field of said one of said at least one electromagnetic sensor is a function of a position, an orientation and a geometric configuration of said each coil;

said coils being substantially planar in shape, arranged in a stack adjacent to the region of interest, and wound so that the amplitudes of signals received by the sensors are substantially independent of the translational position of the object within a plane parallel to said coils;

and wherein the object is free to move within the region of interest, and there is no physical connection between the object on the one hand and the electromagnetic field generators and electromagnetic sensors on the other hand.

2. An object tracking system according to claim 1, wherein the transponder comprises one or more antennae.

3. An object tracking system according to claim 2, wherein the transponder comprises at least three antennae, which define three linearly independent axes in the frame of reference of the object.

4. An object tracking system according to claim 1, wherein the transponder comprises passive resonant circuits.

5. An object tracking system according to claim 4, wherein a transponder circuit is associated with each transponder antenna, and

each transponder circuit has a different resonant frequency.

6. An object tracking system according to claim 2, wherein the antennae comprise coils.

7. An object tracking system according to claim 6, wherein the transponder circuits comprise capacitors.

8. An object tracking system according to claim 7, wherein the different resonant frequencies of the transponder circuits are determined by choosing the capacitors and the coils for inclusion in the circuits.

9. An object tracking system according to claim 6, wherein the coils are orthogonally wound around a common ferromagnetic core.

10. An object tracking system according to claim 1, wherein the system comprises a total of at least four electromagnetic field generators and sensors.

11. An object tracking system according to claim 10, wherein the system comprises one electromagnetic field generator and three or more sensors.

12. An object tracking system according to claim 10, wherein the system comprises three or more electromagnetic field generators, and one sensor.

13. An object tracking system according to claim 1, wherein one or more electromagnetic field generators also operate as sensors.

14. An object tracking system according to claim 5, wherein frequency filters are associated with the sensors, and wherein

the filters separate the signals at the different resonant frequencies of the transponder circuits.

15. An object tracking system according to claim 14, wherein a processor is associated with the sensors, and wherein the processor receives the signals separated by the filters and uses the signal amplitudes to compute the translational and rotational coordinates of the object relative to the fixed frame of reference.

16. An object tracking system according to claim 15, wherein the processors perform matrix calculations.

17. An object tracking system according to claim 1, wherein source circuits provide electrical current input to the electromagnetic field generators, and

the electrical current input comprises current pulses.

18. An object tracking system according to claim 1, wherein source circuits provide an alternating current input to the electromagnetic field generators.

19. An object tracking system according to claim 18, wherein the alternating current comprises a superposition of sinusoidal signals at the different resonant frequencies of the transponder circuits.

20. A system for tracking one or more objects within a region of interest, comprising:

at least one electromagnetic field generator, fixed with respect to an external frame of reference, each said at least one electromagnetic field generator including a coil, each said at least one electromagnetic field generator being operative to generate a respective excitation field;

at least one passive transponder, fixed to an object being tracked, wherein an electromagnetic field generated by the electromagnetic field generator causes the transponder to generate electromagnetic signals; and

at least one electromagnetic sensor, fixed with respect to the external frame of reference, which receives electromagnetic signals generated by the transponder and determines the three-dimensional position and three-axis rotational orientation of the object using these signals;

each said at least one electromagnetic sensor including a coil, each said at least one electromagnetic sensor having a respective response field, said three-dimensional position of the object being determined using linear matrix calculations;

wherein, for each of said coils;

if said each coil is included in one of said at least one electromagnetic field generator, said respective excitation field of said one of said at least one electromagnetic field generator is a function of a position, an orientation, and a geometric configuration of said each coil; and

if said each coil is included in one of said at least one electromagnetic sensor, said respective response field of said one of said at least one electromagnetic sensor is a function of a position, an orientation and a geometric configuration of said each coil;

said coils being substantially planar in shape, arranged in a stack adjacent to the region of interest, and wound so that the amplitudes of signals received by the sensors are substantially independent of the translational position of the object within a plane parallel to said coils.

21. A system for tracking one or more objects within a region of interest, comprising:

at least one electromagnetic field generator, fixed with respect to an external frame of reference, each said at least one electromagnetic field generator including a coil;

at least one passive transponder, fixed to an object being tracked, wherein an electromagnetic field generated by the electromagnetic field generator causes the transponder to generate electromagnetic signals; and

at least one electromagnetic sensor, fixed with respect to the external frame of reference, which receives electromagnetic signals generated by the transponder and determines the three-dimensional position and three-axis rotational orientation of the object using these signals;

each said at least one electromagnetic sensor including a coil;

wherein at least one of said coils is spatially extended relative to the region of interest.