Method and system for ultrasonic measurement and alignment

• US 8,270,253 B1
• Filed: 10/03/2011
• Issued: 09/18/2012
• Est. Priority Date: 11/29/2005
• Status: Expired due to Fees

• Current Assignee: OrthoSensor, Inc (Stryker Corporation)
• Original Assignee: OrthoSensor, Inc (Stryker Corporation)
• Inventors: Roche, Martin, McIntosh, Jason, Boillot, Marc
• Primary Examiner(s): Brainard, Timothy A
• Application Number:
  US13/251,908
• Time in Patent Office: 351 Days
• Field of Search: 367117-130, 367137-139
• US Class Current: 367/117
• CPC Class Codes: A61B 8/565 involving data transmission via a network
• CPC Class Codes: A61B 8/58 Testing, adjusting or calibrating the diagnostic device
• CPC Class Codes: G01S 15/104 wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
• CPC Class Codes: G01S 15/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S15/46
• CPC Class Codes: G01S 15/50 Systems of measurement, based on relative movement of the target
• CPC Class Codes: G01S 15/66 Sonar tracking systems
• CPC Class Codes: G01S 15/88 Sonar systems specially adapted for specific applications seismic or acoustic prospecting or detecting G01V1/00
• CPC Class Codes: G01S 7/64 Luminous indications G01S7/62 takes precedence ; short-range imaging G01S7/52076
• CPC Class Codes: G06F 3/0325 using a plurality of light emitters or reflectors or a plurality of detectors forming a reference frame from which to derive the orientation of the object, e.g. by triangulation or on the basis of reference deformation in the picked up image

Abstract

A method for short range alignment using ultrasonic sensing is provided. The method includes shaping an ultrasonic pulse on a first device to produce a pulse shaped signal and transmitting the pulse shaped signal from the first device to a second device, receiving the pulse shaped signal and determining an arrival time of the pulse shaped, identifying a relative phase of the pulse shaped signal with respect to a previously received pulse shaped signal, identifying a pointing location of the first device from the arrival time and the relative phase, determining positional information of the pointing location of the first device, and reporting an alignment of three or more points in three-dimensional space. Other embodiments are disclosed.

Claims

1. A system for short range alignment using ultrasonic sensing, including:

a first device comprising;

three ultrasonic transmitters for each transmitting a first, second and third pulse shaped signal through the air;

an electronic circuit for generating driver signals to the three ultrasonic transmitters for generating the first, second and third pulse shaped signal;

an user interface that receives user input for assessing short range alignment determination;

a communications port for relaying the user input and receiving timing information to control the electronic circuit; and

a battery for powering the electronic circuit and associated electronics on the first device

a second device comprising;

a processor for generating timing information, registering a pointing location of a tip of the first device responsive to the user input, and determining short range alignment from three or more pointing locations of the first device with respect to the second device;

a communications interface for transmitting the timing information to the first device that in response transmits the first, second and third pulse shaped signals;

three microphones for each receiving the first, second and third pulse shaped signals transmitted through the air;

a memory for storing the first, second and third pulse shaped signals to produce a history of pulse shaped signals,

a wireless communication interface for wirelessly conveying the positional information and the short range alignment of the three or more pointing locations to a remote system;

a battery for powering the processor and associated electronics on the second device,

where the pulse shaped signals are a combination of amplitude modulation, frequency modulation, and phase modulation.

2. The system of claim 1, where the processor on the second device

identifies a relative phase of the pulse shaped signal with respect to a previously received pulse shaped signal at the second device;

identifies a pointing location of the first device with respect to a coordinate system of the second device from an arrival time of the received pulse shaped signal and the relative phase;

saves most recent pulse shaped signals to the memory as a history for determining the pointing location;

selectively discards pulse shaped signals less recently saved in the memory based on a similarity measure between pulse shaped signals in the memory for resolving the pointing location;

determines positional information of the first device at three or more points in three-dimensional space; and

reports the positional information and an alignment of the three or more points.

3. The system of claim 1, where the communications port of the first device is physically wired to the communications interface of the second device for relaying the timing information, where the processor employs the timing information to determine the first, second and third Time of Flight measurements.

4. The system of claim 1, where

the first device includes an infrared transmitter and transmits an infrared timing signal with each transmitted pulse shaped signal;

and

the second device includes a photo diode for determining when the infrared timing signal is received,

where the communications port of the first device is wirelessly coupled to the communications interface of the second device by way of the infrared transmitter and the photo diode for relaying the timing information.

5. The system of claim 1, where the remote system is a computer, laptop or mobile device that displays the positional information and alignment information in real-time.

6. A hand-held portable ultrasonic device comprising:

three ultrasonic transmitters for each transmitting a first, second and third pulse shaped ultrasonic signal through the air;

an electronic circuit for generating driver signals to the three ultrasonic transmitters for generating the first, second and third pulse shaped ultrasonic signal;

an user interface that receives user input for registering a pointing location of a tip of the hand-held portable ultrasonic device responsive to the user input;

a communications port for relaying the user input and receiving timing information to control the electronic circuit; and

a battery for powering the electronic circuit and associated electronics on the first device.

7. The hand-held ultrasonic device of claim 6, where the electronic circuit receives timing information for sequencing a transmit time and applying a shaping to the first, second and third pulse shaped ultrasonic signal, wherein the shaping uses a combination of amplitude modulation, frequency modulation, and phase modulation.

8. The hand-held ultrasonic device of claim 6, where the communications port comprises an infrared transmitter and transmits an infrared timing signal with each transmitted pulse shaped ultrasonic signal to a second device configured to

determine an arrival time of the pulse shaped signal from the infrared timing signal;

determine a relative phase of the pulse shaped signal with a previously received pulse shaped ultrasonic signal;

determine positional information of the pointing location of the hand-held ultrasonic device at three or more points in three-dimensional space; and

report the pointing location and an alignment of the three or more points.

9. A mountable ultrasonic device comprising:

a processor for generating timing information that includes pulse shape parameters, and processing received pulse shaped ultrasonic signals;

a communications interface for transmitting the timing information to a hand-held portable ultrasonic device that in response shapes and transmits a first, second and third pulse shaped ultrasonic signal according to the timing information;

three microphones for each receiving the first, second and third pulse shaped ultrasonic signals transmitted through the air;

a memory for storing the first, second and third pulse shaped signals to produce a history of received first, second and third pulse shaped signals; and

a battery for powering the processor and associated electronics on the second device,

where the processor registers a pointing location of a tip of the hand-held portable electronic device from positional information and short range alignment from three or more pointing locations of the hand-held portable electronic device.

10. The mountable ultrasonic device of claim 9, wherein the processor conveys the pointing location to a remote system that displays an orientation of the hand-held portable ultrasonic device for the pointing location.

11. The mountable ultrasonic device of claim 9, wherein the processor conveys the pointing location to a remote system that displays short range alignment of the three or more pointing locations expressed as an angle.

12. The mountable ultrasonic device of claim 9, wherein the processor

saves most recent received pulse shaped signals to the history;

and

selectively discards pulse shaped signals less recently saved in the history based on a similarity measure between pulse shaped received signals in the history for further resolving the pointing location,

wherein the shaping uses a combination of amplitude modulation, frequency modulation, and phase modulation.