Method and apparatus for electromagnetic position and orientation tracking with distortion compensation employing modulated signal

• US 6,624,626 B2
• Filed: 06/04/2002
• Issued: 09/23/2003
• Est. Priority Date: 11/01/1999
• Status: Expired due to Fees

• Current Assignee: Polhemus Incorporated
• Original Assignee: Polhemus Incorporated
• Inventors: Khalfin, Igor
• Primary Examiner(s): Patidar, Jay
• Application Number:
  US10/164,081
• Publication Number:
  US 20030016006A1
• Time in Patent Office: 476 Days
• Field of Search: 324/207.17, 324/207.12, 324/207.14, 324/207.15, 324/207.16, 324/207.26, 342/386, 342/448, 342/463, 340/979, 340/686.1, 701/207, 600/424, 702/150
• US Class Current: 324/207.17
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/062 using magnetic field
• CPC Class Codes: G01S 1/024 of beacon transmitters
• CPC Class Codes: G01V 3/08 operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices with electromagnetic waves G01V3/12
• CPC Class Codes: G02B 27/017 Head mounted

Abstract

A modulated signal (e.g., single tone FM or AM) and DSP spectral and phase analysis is used to enhance the performance of an AC magnetic tracker. The algorithm allows distinguishing between the direct source—sensor response and the response due to eddy currents, thus allowing elimination of effects of the electromagnetic distortion. This, in turn, eliminates the need for a calibration/mapping, which has proven to be the main obstacle for the wide application of AC electromagnetic tracking systems. The new method and system disclosed do not require witness sensors (but may be used in a combination with them), works in a narrow frequency band that ensures noise stability, may have high operation frequencies (e.g., about 50 kHz) that gives high quality of the signal and increased operation range, as well as high solution update rate, performs real time (each frame) distortion compensation without any prior knowledge about physical properties of distorters. At the same time the new system preserves all known advantages of the AC trackers. The approach finds applicability in head tracking systems and helmet-mounted displays for fighter aircraft, head trackers for armored vehicles, medical-guided surgery and biopsy. The same technology is applicable for remote sensing.

Claims

1. In an AC tracking system of the type wherein an electromagnetic field from a source is received by one or more sensors to determine the position and orientation of an object within a volume of interest, a method of minimizing electromagnetic distortion arising from induced eddy currents, comprising the steps of:

modulating the field;

demodulating the field detected by the sensors; and

performing a spectral analysis on the demodulated signal to distinguish between the direct, source-to-sensor response and the response due to the eddy currents; and

determining the position and orientation of the object in accordance with the direct, source-to-sensor response.

2. The method of claim 1, wherein AM or FM is used to modulate the field.