57 results about "Magnetic tracking" patented technology

A magnetic-based tracking system for tracking an ultrasound probe. The tracking system can create a three-dimensional visualization. The tracking system can include a reference device including a reference magnet and an ultrasound probe including an ultrasound acoustic transducer or acoustic array that acquires ultrasound images. The reference device can include a magnetometer that detects a magnetic field generated by the reference magnet. The ultrasound probe can couple a first ultrasound image with a first magnetic field strength, wherein both of the first ultrasound image is received and the first magnetic field strength is detected at a first time. The system can include a console including a processor and non-transitory computer-readable medium having stored thereon a plurality of processor executed logic modules that perform operations including receiving and recording a plurality of coupling of ultrasound images and detected magnetic field strengths to generate a 3D visualization from the ultrasound images.

Automatic synchronization of a magnetic field transmitter and receiver is performed to resolve phase ambiguity so that phase information, used in determining the position and orientation of the receiver, may be derived and maintained. Inertial measurement unit (IMU) information is used to infer gravity-relative orientations of the transmitter and receiver, which are then used as constraints in the synchronization process to determine the position and orientation of the receiver from all four possible solutions or variations. The variation that best conforms to the IMU orientations is chosen as the sync candidate.

The present disclosure relates to a surgical robot for orthopedic surgery, comprising a robotic arm device, a positioning and navigation device, and a control device, wherein the robotic arm device comprises at least two robotic arms, and an end effector is arranged at the end of each robotic arm close to an operating zone. The positioning and navigation device comprises an electromagnetic navigation device. The electromagnetic navigation device comprises: a tracking apparatus for electromagnetic tracking, comprising a magnetic field generator used for covering the at least two end effectors and at least two first electromagnetic tracking elements used for respectively tracking the orientations of the at least two end effectors during the surgery; and a reference frame, wherein a second electromagnetic tracking element and a developing body capable of displaying a coordinate position are arranged on the reference frame. The positioning and navigation device further comprises an imaging device used for positioning and navigating the at least two end effectors. The imaging device comprises an infrared coherent imaging navigation device used for positioning the operating zone and the at least two end effectors.

Numerous examples are disclosed of a system and method for universal tracking of physical objects in a physical environment and generating accurate virtual counterparts within an extended reality (XR) environment. In one example, a magnetic tracking system comprises a first XR device to generate a XR environment for a first user, an electromagnetic field (EMF) source to generate EMF, a first tracked object, and a first magnetic sensor physically coupled to the first tracked object to receive the EMF and generate a first sequence of tracking data, wherein the XR environment generates a first virtual counterpart to the first tracked object.

The invention belongs to the field of quantum sensors, and discloses a rapid magnetic tracking quantum magnetic imager without radio frequency microwaves, which is a quantum magnetic imager provided by utilizing a color center ensemble rapid induction magnetic field under the condition without microwaves. The instrument is composed of a plurality of systems: an excitation light path, an imaging light path, a detection light path and a magnetic target to be detected. The excitation light path can generate high-quality laser for exciting a to-be-measured target; the imaging light path can be used for quickly positioning a to-be-measured target; the detection light path can collect weak optical signals generated by excitation of the to-be-detected target for further analysis; the fluorescence acquisition and analysis circuit system can collect and detect fluorescence signals in a light path so as to be connected with an upper computer for soft control and accurate analysis processing; air flow is injected into a magnetic target to be detected through the injector, and the magnetic target is controlled to move in the labyrinth-shaped pipeline. The invention provides a valuable method for the rapid magnetic tracking of the magnetic target based on the color center ensemble, so that the application range of the method is expanded.

A magnetic-based tracking system for tracking an ultrasound probe to create a three-dimensional visualization. The system can include a reference device including a reference magnet and an ultrasound probe including an ultrasound acoustic transducer or acoustic array that acquires ultrasound images and a magnetometer that detects a magnetic field generated by the reference magnet. The ultrasound probe couples a first ultrasound image with a first magnetic field strength, wherein both of the first ultrasound image is received and the first magnetic field strength is detected at a first time. The system can include a console including a processor and non-transitory computer-readable medium having stored thereon a plurality of processor executed logic modules that perform operations including receiving and recording a plurality of coupling of ultrasound images and detected magnetic field strengths, and generating a 3D visualization from the ultrasound images.

The invention discloses a sequence image relative pose estimation method, device and equipment and a medium, and relates to the technical field of image processing, the method accurately estimates inter-frame poses through deep learning, so that ultrasonic three-dimensional reconstruction can be realized under the condition of not using external tracking equipment such as electromagnetic tracking and the like; therefore, various possible complex medical environments can be adapted more flexibly, and medical workers can be helped to perform examination and diagnosis better. And meanwhile, the method eliminates the dependence of ultrasonic three-dimensional reconstruction on external equipment such as optical / magnetic tracking equipment, so that the system architecture is simpler and more compact, the hardware cost and complexity are remarkably reduced, and the method is favorable for adapting to various different clinical application scenes. Besides, through rotation isovariant convolution and multi-scale cross attention, the method can better adapt to factors such as angle change and tissue deformation in the acquisition process, and the robustness of the method is improved.

The present invention is applicable to the field of aerospace control technology, and provides a method for attitude magnetic tracking control in satellite orbit transfer, the method comprising: controlling the satellite attitude by three orthogonal magnetic torquers installed along the +X, +Y and +Z axis directions of the satellite; obtaining the expected angle during the satellite orbit transfer, and when the actual angle is close to the expected angle, compensating the torque generated by thrust with the torque generated by gravity; tracking control of the satellite attitude is performed by using a preset sliding mode control law based on an auxiliary compensator and taking the difference between the actual magnetic control torque and the ideal magnetic control torque as the input of the auxiliary compensator; the present invention uses the magnetic torquer as an attitude control actuator in the satellite orbit transfer, plans the expected angle during the satellite orbit transfer, and can compensate the torque generated by thrust with the torque generated by gravity when the actual angle is close to the target angle, thereby ensuring the stability of the satellite system and reducing the energy consumption of the magnetic torquer.

The application discloses a coil layout optimization and pose estimation simulation model, relates to the technical fields of electromagnetic tracking, simulation modeling and electromagnetic layout optimization, and aims to realize optimal design of a transmitting coil spatial layout and high-precision pose calculation through high-fidelity numerical simulation data driving. Under the driving of specific excitation signals, a simulation engine utilizes ANSYS finite element analysis to pre-construct a global magnetic field fingerprint characteristic map of the transmitting coil, so as to replace a traditional magnetic dipole mathematical approximation model. In order to improve the scientificity of the coil layout, virtual magnetic field data generated by ANSYS is mapped into sensor sensing voltage prediction values, and residual errors are constructed with pose estimation values output by a calculation module; subsequently, the pose errors are used as feedback evaluation indexes to iteratively correct coil geometric arrangement parameters in the ANSYS model, and finally, a global optimal layout is obtained.

A medical imaging device is disclosed. The medical imaging device includes an ultrasonic transducer having an acoustic stack including an active surface opposite to the backing surface, a magnetic tracking sensor assembly, and a multilayer circuit assembly electrically and mechanically coupled to the ultrasonic transducer and the magnetic tracking sensor assembly. The magnetic tracking sensor assembly includes a coupling surface. The backing surface is aligned with the coupling surface.

An electromagnetic tracking (EMT) system is configured for determining a frequency for generating at least a portion of a magnetic field signal using a transmitter coil of a plurality of transmitter coils. The EMT system configures a time-division multiplexed (TDM) control signal configured to cause the transmitter coil to transmit bursts of the magnetic field signal at the frequency. The EMT system configures a filter for filtering the TDM control signal, the filter configured to shape each burst to reduce or eliminate a harmonic artifact of the bursts. The EMT system causes the transmitter coil to generate the shaped bursts of the magnetic field signal. The EMT system receives, from a sensor, a sensor signal that corresponds to the magnetic field signal, the sensor including the output response indicative of the location of the sensor relative to the transmitter.

The disclosed electronic unit includes reusable electronic components for magnetic tracking, which are non-sterile, but can be encapsulated in a sterile, disposable enclosure. The housing may be a medical device or a standalone entity that may be mechanically connected to the medical device. The electronic unit has a housing having an elongated shape in a longitudinal direction.

A magnetic tracking device includes a sensor configured to generate a sensor electromotive force (EMF). The device includes a mechanism configured to select between a first operating mode in which the sensor generates the sensor EMF when receiving the magnetic field and a second operating mode in which the sensor generates a reduced amount of the sensor EMF when receiving the magnetic field. An interconnecting circuit generates a parasitic EMF in each of the first operating mode and the second operating mode. The interconnecting circuit connects to a processing device which receives a first measurement for the first operating mode, the first measurement representing the sensor EMF and the parasitic EMF, receives a second measurement for the second operating mode, the second measurement representing the parasitic EMF, compares the first measurement and the second measurement, and determines an approximate value of the sensor EMF.

Magnetic field sensor assembly, comprising: a hollow core comprising a ferromagnetic material, wherein the hollow core has a proximal end and a distal end; conductive material arranged around the hollow core and forming at least one turn of a coil, the coil comprising at least one start terminal and at least one end terminal; and wherein at least first and second lead wires are provided, wherein the first lead wire is connected to the start terminal to form a first termination, and wherein the second lead wire is connected to the end terminal to form a second termination, and wherein the first and second lead wires can transmit electrical signals from the coil to a magnetic position measuring system for determining a sensor position, characterized by the fact that The first and second supply wires run inside the hollow core, thus reducing the fragility of the sensor assembly.

Numerous examples are disclosed of a system and method for universal tracking of physical objects in a physical environment and generating accurate virtual counterparts within an extended reality (XR) environment. In one example, a magnetic tracking system comprises a first XR device to generate a XR environment for a first user, an electromagnetic field (EMF) source to generate EMF, a first tracked object, and a first magnetic sensor physically coupled to the first tracked object to receive the EMF and generate a first sequence of tracking data, wherein the XR environment generates a first virtual counterpart to the first tracked object.

A method for automatic position determination review during position tracking of an object inserted in a hollow organ of a patient by an electromagnetic tracking (EMT) system in the presence of an X-ray device with a movable acquisition system includes providing a registration of the EMT system to the acquisition system. A reference image of the hollow organ of the patient is provided, a registration of the reference image is provided to the acquisition system, a position of the object is determined by the EMT system, and an associated position on the reference image is determined. A plausibility criterion and / or a boundary condition is applied for reviewing a plausibility of the position determined by the EMT system based on the reference image. If the plausibility criterion and / or the boundary condition is violated, a position correction of the position determined by the EMT system and / or an alternative position determination is performed.

The magnetic tracking device is configured to track an object in an environment by receiving a measurement of a non-magnetic signal and a corresponding measurement of a magnetic signal for a location of the magnetic tracking device in the environment. The magnetic tracking device estimates a non-magnetic attitude of the magnetic tracking device in the environment for the location based on the measurement of the non-magnetic signal. The device estimates a magnetic attitude of the magnetic tracking device in the environment for the location based on the measurement of the magnetic signal. The device determines a difference between the magnetic attitude estimate and the non-magnetic attitude estimate for the location. The device determines a magnetic distortion correction value for the location based on the difference. The magnetic tracking device generates a distortion correction model including the distortion value and outputs a representation of the distortion correction model.

The utility model discloses an electromagnetic tracking scanning circuit and an electromagnetic touch control device, which comprise a processor, an X-direction filter and a Y-direction filter, and the X-direction filter and the Y-direction filter are connected with the processor and respectively comprise filter circuits with different filter frequency bands. The filter is used for accessing an electric signal in a corresponding direction and outputting an electric signal in a set frequency band, and the processor is used for receiving the filtered electric signal so as to position the electromagnetic pen. The filters comprising different filtering frequency bands are designed in the X direction and the Y direction, and electric signals in different frequency ranges can be accessed in each direction, so that the same scanning channels in the X direction or the Y direction can be combined, the scanning channels are reduced, the scanning time is saved, and the scanning speed is increased.

The catheter assembly (100) includes a multi-lumen catheter (102), a primary stylet (120), and a secondary stylet (140). The primary and secondary stylets are each inserted into separate lumens (108A, 108B) extending along the catheter tube (106). The primary stylet includes a magnetic region (226) that allows for magnetic tracking. The secondary stylet is configured to prevent buckling of the magnetic region during insertion. The secondary stylet includes a proximal section (242) having a proximal column strength and a distal section having a distal column strength greater than the proximal column strength. During use, an insertion force that exceeds an insertion force limit buckles the proximal section to prevent buckling of the distal section. The primary stylet may also include an electrical sensor and / or optical fiber configured for shape sensing.

An electromagnetic tracking system includes a handheld controller comprising a first phased array element characterized by a first phase and a second phased array element characterized by a second phase different from the first phase. The first phased array element and the second phased array element are configured to generate a steerable electromagnetic beam characterized by an electromagnetic field pattern. The electromagnetic tracking system also includes a head-mounted augmented reality display (HMD) comprising an electromagnetic sensor configured to sense the electromagnetic field pattern.

A medical imaging apparatus is disclosed. The medical imaging apparatus includes an ultrasonic transducer having an acoustic stack including an active surface opposite a back surface; a magnetic tracking sensor assembly; and a layered circuit assembly electrically and mechanically coupled to the ultrasonic transducer and the magnetic tracking sensor assembly. The magnetic tracking sensor assembly includes a coupling surface. The back surface is aligned with the coupling surface.

In an embodiment, an extended reality training system is disclosed that includes an extended reality display device, an emitter, a receiver attached to an object and a processor. The processor obtains tracking data for the object based at least in part on a detection by the receiver of a magnetic field generated by the emitter. The processor obtains training scenario data corresponding to an extended reality training scenario and generates the extended reality training scenario based at least in part on the tracking data and the training scenario data. The extended reality training scenario comprises a representation of the object at a location and orientation in a virtual space that corresponds to a location and orientation of the object indicated by the tracking data. The processor provides the extended reality training scenario to the extended reality display device to present the representation of the object to a user.

Numerous examples are disclosed of a system and method for universal tracking of physical objects in a physical environment and generating accurate virtual counterparts within an extended reality (XR) environment. In one example, a magnetic tracking system comprises a first XR device to generate a XR environment for a first user, an electromagnetic field (EMF) source to generate EMF, a first tracked object, and a first magnetic sensor physically coupled to the first tracked object to receive the EMF and generate a first sequence of tracking data, wherein the XR environment generates a first virtual counterpart to the first tracked object.

An apparatus and method for determining position and orientation (PnO) of an object within an environment using an electromagnetic tracking system. An adaptive filter is used to strike a tradeoff between low jitter and low latency. When the object is slow moving or stationary, the adaptive filter is set to filter out jitter from the electromagnetic tracking system. When the object is in motion, the adaptive filter is set to reduce latency of the electromagnetic tracking system. An amount of motion of the object is monitored using a non-magnetic tracking device, whereby the setting of the adaptive filter is controlled based on the monitored motion using signals from the non-magnetic tracking device.

The present invention provides a method and system for magnetic tracking of a flexible device, the method comprising: receiving, by a host server, a plurality of sensed values of a local magnetic field, the plurality of sensed values sensed by a corresponding plurality of sensors, wherein the host server is optionally comprised in a controller of the plurality of sensors, the plurality of sensors positioned along a flexible tube of a device, wherein the plurality of sensed values are at least partially due to at least one alternating magnetic field generated by at least one magnetic field generator, a source amplitude and a frequency of each alternating magnetic field provided to the host server; and calculating, by the host server, a position of the flexible tube based on the plurality of sensed values and the source amplitude and the frequency of each alternating magnetic field provided.

A method for magnetic tracking of a flexible catheter device or a flexible elongate device, the method comprising: receiving, by a host server, a plurality of sensed values of a local magnetic field, the plurality of sensed values sensed by a corresponding plurality of sensors, wherein the host server is optionally comprised in a controller of the plurality of sensors, the plurality of sensors positioned along a flexible tube of a device, wherein the plurality of sensed values are at least partially due to at least one alternating magnetic field generated by at least one magnetic field generator, a source amplitude and a frequency of each alternating magnetic field provided to the host server; and calculating, by the host server, a position of the flexible tube based on the plurality of sensed values and the source amplitude and the frequency of each alternating magnetic field provided.

An electromagnetic tracking system includes an adjustable source of electricity, a magneto-resistive (MR) sensor coupled to the adjustable source of electricity and configured to couple to a device for tracking a position of the device, and a controller coupled to the adjustable source of electricity and the MR sensor to adjust an amount of electricity provided to the MR sensor by the adjustable source of electricity. The electromagnetic tracking system is configured to track MR sensors and coil-based sensors simultaneously using one or more input channels on the controller.

A magnetic tracking device is configured to track an object in an environment by receiving a measurement of the non-magnetic signal and a corresponding measurement of the magnetic signal for a location of the magnetic tracking device in the environment. The magnetic tracking device estimates, based on the measurement of the non-magnetic signal, a non-magnetic pose of the magnetic tracking device in the environment for the location. The device estimates, based on the measurement of the magnetic signal, a magnetic pose of the magnetic tracking device in the environment for the location. The device determines a difference between the magnetic pose estimate and the non-magnetic pose estimate for the location. The device determines a magnetic distortion correction value for the location based on the difference. The magnetic tracking device generates a distortion correction model including the distortion value and outputs a representation of the distortion correction model.

A magnetic-based tracking system for tracking an ultrasound probe. The tracking system can create a three-dimensional visualization. The tracking system can include a reference device including a reference magnet and an ultrasound probe including an ultrasound acoustic transducer or acoustic array that acquires ultrasound images. The reference device can include a magnetometer that detects a magnetic field generated by the reference magnet. The ultrasound probe can couple a first ultrasound image with a first magnetic field strength, wherein both of the first ultrasound image is received and the first magnetic field strength is detected at a first time. The system can include a console including a processor and non-transitory computer-readable medium having stored thereon a plurality of processor executed logic modules that perform operations including receiving and recording a plurality of coupling of ultrasound images and detected magnetic field strengths to generate a 3D visualization from the ultrasound images.