100 results about "Motion tracking system" patented technology

A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant. A video monitor is coupled to the control computer; and an input system is coupled to the servo-mechanical system and to the control computer for providing a movement of the surgical instrument. The video monitor displays movement of the surgical instrument while the resultant surgical cardiac worksite appears substantially stationary, and while a relative position of the surgical instrument moving in unison with the resultant surgical cardiac worksite, as a result from the movement information gathered by the motion tracking system, remains generally constant. A method of performing cardiac surgery without cardioplegia comprising removing at least one degree of movement freedom from a moving surgical cardiac worksite to produce at least a partially stationary surgical cardiac worksite while allowing a residual heart section, generally separate from the at least partially stationary surgical cardiac worksite, to move as a residual moving heart part. Cardiac surgery is performed on the at least partially stationary cardiac worksite with a surgical instrument such as needle drivers, forceps, blades and scissors.

A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant. A video monitor is coupled to the control computer; and an input system is coupled to the servo-mechanical system and to the control computer for providing a movement of the surgical instrument. The video monitor displays movement of the surgical instrument while the resultant surgical cardiac worksite appears substantially stationary, and while a relative position of the surgical instrument moving in unison with the resultant surgical cardiac worksite, as a result from the movement information gathered by the motion tracking system, remains generally constant. A method of performing cardiac surgery without cardioplegia comprising removing at least one degree of movement freedom from a moving surgical cardiac worksite to produce at least a partially stationary surgical cardiac worksite while allowing a residual heart section, generally separate from the at least partially stationary surgical cardiac worksite, to move as a residual moving heart part. Cardiac surgery is performed on the at least partially stationary cardiac worksite with a surgical instrument such as needle drivers, forceps, blades and scissors.

A physiological parameter measurement and motion tracking system including a control system, a sensing system, and a stimulation system is disclosed. The sensing system includes one or more physiological sensors including at least brain electrical activity sensors. The stimulation system includes one or more stimulation devices including at least a visual stimulation system. The control system includes an acquisition module configured to receive sensor signals from the sensing system, and a control module configured to process the signals from the acquisition module and control the generation of stimulation signals to one or more devices of the stimulation system. The control system further includes a clock module and the control system is configured to receive content code signals from the stimulation system and to time stamp the content code signals and the sensor signals with a clock signal from the clock module.

A radio frequency (RF) motion capture system includes stationary sensor receivers, one or more transmitter marker tags on one or more objects to be tracked within a capture zone, at least one stationary reference tag transmitter, and a processing system for processing the received signals. The individual tags transmit burst of spread-spectrum RF signals. The transmitted signals include a common sync code, and a tag identification code that is unique to each tag. By computing double differences of pseudoranges, clock terms are cancelled out allowing the processing system to precisely determine the location of each tag as it moves through the capture zone without the need to synchronize clocks between sensors and tags. The system can be used for RF match moving.

Small radio frequency tags for use in a motion capture system include a power source, circuitry for generating radio frequency identification signals, an antenna for transmitting the signals, and means for automatically activating the tags so that the tags begin transmitting the signals including a tag identification code when a cover is removed. The activation means may include a release strip that, when removed, opens or closes an electrical circuit that activates the tag and also exposes an adhesive covered surface of the tag so that the tag can then be adhered to a clothed or unclothed human body or other object to be tracked. The activation means can also include an optical sensor, an oxygen sensor, or other sensors. The battery and the antenna may be printed or constructed of film, thus allowing the tag to be small, thin, and flexible.

An optically-based rigid-body 6-DOF motion tracking system optimized for prospective (real-time) motion correction in Magnetic Resonance Imaging (MRI) applications using a single camera with an on-board image processor, an IR illuminator and optical fiducial targets affixed to a patient. An angle extraction algorithm operated by the on-board image processor utilizes successive approximation to solve the 3-point pose problem for angles close to the origin to achieve convergence to sub-microradian levels. A motion alarm is enabled by a monitor and GUI application in communication with the motion tracking system. A motion correction is enabled for MR scan images taken while operating the motion tracking system wherein an MRI controller is in communication with the motion tracking system.

Current MRI technologies require subjects to remain largely motionless for achieving high quality magnetic resonance (MR) scans, typically for 5-10 minutes at a time. However, lying absolutely still inside the tight MR imager (MRI) tunnel is a difficult task, especially for children, very sick patients, or the mentally ill. Even motion ranging less than 1 mm or 1 degree can corrupt a scan. This invention involves a system that adaptively compensates for subject motion in real-time. An object orientation marker, preferably a retro-grate reflector (RGR), is placed on a patients' head or other body organ of interest during MRI. The RGR makes it possible to measure the six degrees of freedom (x, y, and z-translations, and pitch, yaw, and roll), or “pose”, required to track the organ of interest. A camera-based tracking system observes the marker and continuously extracts its pose. The pose from the tracking system is sent to the MR scanner via an interface, allowing for continuous correction of scan planes and position in real-time. The RGR-based motion correction system has significant advantages over other approaches, including faster tracking speed, better stability, automatic calibration, lack of interference with the MR measurement process, improved ease of use, and long-term stability. RGR-based motion tracking can also be used to correct for motion from awake animals, or in conjunction with other in vivo imaging techniques, such as computer tomography, positron emission tomography (PET), etc.

A computer simulation and virtual reality system simulates the use of a blasting nozzle to remove one or more coatings and / or rust from a virtual surface. The user operates an electronic controller in the form of a blasting nozzle that outputs a signal indicating whether the blasting nozzle controller is in an “on” position or in an “off” position. The system also has a motion tracking system that tracks the position and orientation of the blasting nozzle controller with respect to the virtual surface defined on the display screen. Simulation software in a computer generates virtual blast pattern data, and the removal of the virtual coating(s) and / or rust image from the virtual surface is displayed in real time on the display screen.

The present invention relates to a system and a method for monitoring / tracking the movement of an object in a location which is difficult to access, such as the movement of a patient in a clinical MRI scanner. This is achieved by an optical motion tracking system for determining the movement of an object at least partly located in a volume of difficult access and / or at least partly located in an electromagnetic field, said system comprising a borescope for imaging a pattern on the object or a surface part of the object with a camera, said pattern or surface part located adjacent to a distal end of the borescope and said camera attached to a proximal end of said borescope, and image processing means for calculating the movement of said pattern or surface part relative to the distal end of the borescope based on a plurality of frames / images captured by the camera. The invention further relates to the use of a borescope for motion tracking of an object and a marker plate suitable for use in the motion tracking system.

A virtual coatings application system has several features to enhance the realism of simulated spray painting. The system generally includes a display screen on which is defined a virtual surface (such as a truck door) that is intended to be virtually painted or coated by the user. The user operates an instrumented spray gun controller that outputs one or more signals representing data as to the status of the controls on the spray gun controller. The system also has a motion tracking system that tracks the position and orientation of the spray gun controller with respect to the virtual surface defined on the display screen. Simulation software generates virtual spray pattern data in response to at least the data from the spray gun controller and the position and orientation data received from the tracking system. Virtual spray pattern images are displayed in real time on the display screen in accordance with the accumulation of virtual spray pattern data at each location on the virtual surface.

A virtual coatings application system has several features to enhance the realism of simulated spray painting. The system generally includes a display screen on which is defined a virtual surface (such as a truck door) that is intended to be virtually painted or coated by the user. Alternatively, the system includes a head-mounted display unit that displays a virtual spray painting environment in which the virtual surface is defined. The user operates an instrumented spray gun controller that outputs one or more signals representing data as to the status of the controls on the spray gun controller. The system also has a motion tracking system that tracks the position and orientation of the spray gun controller with respect to the virtual surface. Simulation software generates virtual spray pattern data in response to at least the data from the spray gun controller and the position and orientation data received from the tracking system. Virtual spray pattern images are displayed in real time on the virtual surface in accordance with the accumulation of virtual spray pattern data at each location on the virtual surface.

The invention relates to motion tracking system (10) for tracking a movement of an object (P) in a three-dimensional space, the said object being composed of object portions having individual dimensions and mutual proportions and being sequentially interconnected by joints the system comprising orientation measurement units (S1, S3, . . . SN) for measuring data related to at least orientation of the object portions, wherein the orientation measurement units are arranged in positional and orientational relationships with respective object portions and having at least orientational parameters; a processor (3, 5) for receiving data from the orientation measurement units, the said processor comprising a module for deriving orientation and / or position information of the object portions using the received data and a calibration unit (7) arranged to calculate calibration values based on received data and pre-determined constraints for determining at least the mutual proportions of the object portions and orientational parameters of the orientation measurement units based on received data, pre-determined constrains and additional input data. The invention further relates to a method for tracking a movement of an object, a medical rehabilitation system and an animation system.

A welding system includes a motion tracking system comprising a camera having a lens. The welding system also includes a cover disposed over the lens of the camera. The cover is configured to enable infrared light to pass therethrough and to block environmental elements from contacting the lens of the camera. The cover is disposed over the lens of the camera at an angle relative to a face of the camera, and the angle is between approximately 10 and 60 degrees.

The disclosure herein provides methods, systems, and devices for tracking motion of a patient or object of interest during biomedical imaging and for compensating for that motion in the biomedical imaging scanner and / or the resulting images to reduce or eliminate motion artifacts. In an embodiment, a motion tracking system is configured to overlay tracking data over biomedical imaging data in order to display the tracking data along with its associated image data. In an embodiment, a motion tracking system is configured to overlay tracking data over biomedical imaging data in order to display the tracking data along with its associated image data. In an embodiment, one or more detectors are configured to detect images of a patient, and a detector processing interface is configured to analyze the images to estimate motion or movement of the patient and to generate tracking data describing the patient's motion. The detector processing interface is configured to send the tracking data to a scanner controller to enable adjustment of scanning parameters in real-time in response to the patient's motion.

The invention discloses a hand movement tracking system and a hand movement tracking method. The invention comprises an attitude and heading reference system based on an accelerometer, a gyroscope and a magnetic sensor, and a hand movement tracking method based on the attitude and heading reference system. The hand movement tracking method comprises the following steps: firstly, obtaining a triaxial acceleration measured by the accelerometer, a triaxial angular velocity measured by the gyroscope and a triaxial magnetic-field component measured by the magnetic sensor, performing error compensation on the magnetic sensor by adopting a least square method to establish an error model after an upper computer receives sensor data, eliminating high-frequency noise of the triaxial acceleration by virtue of a window low-pass filter, and establishing an error model for the gyroscope so as to perform error compensation on random drift of the gyroscope; secondly, effectively integrating the gyroscope, the accelerometer and the magnetic sensor by virtue of an improved adaptive complementary filtering algorithm to obtain an attitude angle and a path angle; and finally, performing gravity compensation and discrete digital integration on acceleration signals to obtain a velocity and a track of a hand movement. The tracking system and the tracking method disclosed by the invention can be applied to a man-machine interactive system, is convenient to operate, and is strong in experience feeling.

A motion tracking system enables faithful capture of subtle facial and eye motion using a surface electromyography (EMG) detection method to detect muscle movements and an electrooculogram (EOG) detection method to detect eye movements. Signals corresponding to the detected muscle and eye movements are used to control an animated character to exhibit the same movements performed by a performer. An embodiment of the motion tracking animation system comprises a plurality of pairs of EMG electrodes adapted to be affixed to a skin surface of a performer at plural locations corresponding to respective muscles, and a processor operatively coupled to the plurality of pairs of EMG electrodes. The processor includes programming instructions to perform the functions of acquiring EMG data from the plurality of pairs of EMG electrodes. The EMG data comprises electrical signals corresponding to muscle movements of the performer during a performance. The programming instructions further include processing the EMG data to provide a digital model of the muscle movements, and mapping the digital model onto an animated character. In another embodiment of the invention, a plurality of pairs of EOG electrodes are adapted to be affixed to the skin surface of the performer at locations adjacent to the performer's eyes. The processor is operatively coupled to the plurality of pairs of EOG electrodes and further includes programming instructions to perform the functions of acquiring EOG data from the plurality of pairs of EOG electrodes. The EOG data comprises electrical signals corresponding to eye movements of the performer during a performance. The programming instructions further provide processing of the EOG data and mapping of the processed EOG data onto the animated character. As a result, the animated character will exhibit the same muscle and eye movements as the performer.

Robotic systems for simultaneous human-performed and robotic operations within a collaborative workspace are described. In some embodiments, the collaborative workspace is defined by a reconfigurable workbench, to which robotic members are optionally added and / or removed according to task need. Tasks themselves are optionally defined within a production system, potentially reducing computational complexity of predicting and / or interpreting human operator actions, while retaining flexibility in how the assembly process itself is carried out. In some embodiments, robotic systems comprise a motion tracking system for motions of individual body members of the human operator. Optionally, the robotic system plans and / or adjusts robotic motions based on motions which have been previously observed during past performances of a current operation.

An improved non-invasive respiration monitor combines signals from a spirometer and laser chest displacement sensor to reduce signal error. The improved respirations signal can be used for position correction in radiation therapy and imaging applications and can be displayed to a user in breath control techniques.

The invention provides a face motion tracking method, a face motion tracking system and a method for enhancing reality. The face motion tracking method comprises the following steps of: 1) extracting face characteristic points and face contour characteristics of a video image; 2) determining the number of the face characteristic points; and 3) under the condition that the number of the face characteristic points is greater than a preset threshold value, performing motion tracking on faces in the video images by using the face characteristic points and a three-dimensional model, and under the condition that the number of the face characteristic points is smaller than or equal to the preset threshold value, performing the motion tracking by using the face contour characteristics. By the method, head motions can be accurately tracked to prevent determined face characteristic points from being lost; moreover, during real-time tracking, only a few face motion data is transmitted by a communication network, so the method is suitable for various mobile phone platforms, has low requirements on hardware conditions, and can be applied to video call interaction to improve the interest and the interaction of a call.

The present invention provides a method and device for high resolution 3-D detection of changes in mechanical and structural properties of the breast tissue that are indicative of breast cancer development. In one embodiment of the invention a compact hand held device comprises a pressure sensor array, a self-contained motion tracking system integrated with the pressure sensor array, and an electronic unit with a display. Mechanical imaging of the breast is achieved by pressing the sensing pad onto the breast, oscillating it over breast tissue portions with sequential returning to a reference point. Calculation of a trajectory and orientation of the pressure sensor array can include correction of the device position and orientation with a suitable Kalman filter using measured signals supplied from the motion tracking system and from the pressure sensor array. Analysis of pressure response data for oscillatory deformations comprises cumulative summation of a plurality of pressure patterns after spatially shifting every pattern by a pre-calculated value in an opposite direction of pressure sensor array motion. Determining mechanical and geometrical features of the breast inner structures includes formation of a 3-D mechanical image of the breast combining results of local scanning at all breast sites using calculated position and orientation data for the pressure sensor array.

A virtual coatings application system has several features to enhance the realism of simulated spray painting. The system generally includes a display screen on which is defined a virtual surface (such as a truck door) that is intended to be virtually painted or coated by the user. Alternatively, the system includes a head-mounted display unit that displays a virtual spray painting environment in which the virtual surface is defined. The user operates an instrumented spray gun controller that outputs one or more signals representing data as to the status of the controls on the spray gun controller. The system also has a motion tracking system that tracks the position and orientation of the spray gun controller with respect to the virtual surface. Simulation software generates virtual spray pattern data in response to at least the data from the spray gun controller and the position and orientation data received from the tracking system. Virtual spray pattern images are displayed in real time on the virtual surface in accordance with the accumulation of virtual spray pattern data at each location on the virtual surface.

A motion tracking system for dynamic tracking of and compensation for motion of a patient during a magnetic resonance scan comprises a first camera positioned to view an optical marker along a first line of sight; a second camera positioned to view the optical marker along a second line of sight; and a computer system configured to analyze images generated by the first and second cameras to determine changes in position of the optical marker, and to generate tracking data for use by a magnetic resonance scanner to dynamically adjust scans to compensate for the changes in position of the optical marker, wherein the computer system is configured to dynamically adapt its image analysis to utilize images from all cameras that are currently viewing the optical marker.

An arm exercise system (10) comprising an arm trolley (14) having one or more support wheels and which is arranged to support a user's arm for movement over a surface via the wheel(s). The arm trolley (14) also has an actuator(s) associated with one or more of the wheel(s) and which are operable to apply a level of braking to resist movement of the wheel(s). The system (10) further comprises a motion tracking system (16) that is arranged to sense and track movement of the trolley (14) over the surface and generate representative position data relating to the movement of the trolley. A computer system (18) is arranged to receive the representative position data to enable a user (12) to interact with a program running on the computer system via movement of the arm trolley (14) over the surface.

A method and device for breast examination adapted for easy home use including a tactile imager probe equipped with a pressure sensor array and a motion tracking system for simultaneously recording pressure and positioning data during the examination of a breast or any other soft tissue. The method includes a step of starting the examination from a known point or an anatomical mark such as a nipple or a sternum; moving the probe towards the area of interest and oscillating it thereabout while manually or automatically recording pressure and positioning data. Subsequent data analysis identifies the presence of a lesion, calculates its location relative to the probe, estimates the location of the probe relative to the anatomical landmark and finally calculates the location of the lesion relative to that anatomical landmark. The method allows repeating examinations over time with great accuracy as they all start from the same anatomical landmark. The probe includes provisions for easy hand grip or attaching to fingers of a patient, a cable connector or a wireless transmitter for transmitting the data out to a computer or another data analysis device, as well as manual data entry means allowing the patient herself to enter the positioning data.

Systems and methods for applying vibration to and tracking the position and motion of the human body. A vibration system includes a vibrator capable of converting an electrical signal into vibration, and a motion tracking device capable of tracking the motion and position of a user. In one aspect, the vibrator is arranged on or about the human body on a pectoralis major muscle and spaced away from a sternum. In another aspect, the vibrator is arranged on or about the human body such that a first pattern of vibrations are generated on the body's surface. The first pattern of vibrations matches in relative amplitude a second pattern of vibrations generated on the body's surface when the body generates sound.

A real-time estimation of 3D moments of lower-limb joints using a robotic multi-axis training system with a 6-axis force / torque (F / T) sensors and a 6-DOF goniometer is described. A joint moment such as the knee abduction moment (KAM) can be determined in real-time without using sophisticated optoelectronic motion tracking system. The system also does not require computation of the COP location. The knee adduction moment or any other lower-limb 3D joint moments can be determined conveniently during stepping movement on the training system for real-time biofeedback training on controlling the targeted joint moment(s). The 6-DOF goniometer is convenient to use with other analog signals including the 6-axis F / T and locomotion variables. As an example application, combined with the frontal plane movement on the robotic multi-axis elliptical trainer, it provides a useful tool suitable for clinical setting to help patients with knee OA to reduce potentially damaging peak knee adduction moment through real-time feedback training.

A virtual coatings application system realistically simulates airless spray painting. The system generally includes a display screen on which is defined a virtual surface that is intended to be virtually painted or coated by the user. The user operates the instrumented airless spray gun controller which is instrumented with a tracking device and an electronic on / off switch for the trigger. The system also has a motion tracking system that tracks the position and orientation of the airless spray gun controller with respect to the virtual surface defined on the display screen. Simulation software generates virtual spray pattern data in response to the setup parameters and the position and orientation of the airless spray gun controller with respect to the virtual surface. Virtual spray pattern images are displayed in real time on the display screen in accordance with the accumulation of virtual spray pattern data at each location on the virtual surface. The primary purpose of the system is to enhance training. In addition to providing virtual painting of a part, the system also provides for virtual practice sessions in which the user can test setup parameters by painting virtual practice paper.