METHOD TO DETERMINE POSITION AND ORIENTATION OF MATTER AGAINST REFERENCE FRAME

摘要

PPROBLEM TO BE SOLVED: To provide a device and a method to determine a position and orientation of a matter against a reference frame when a medical probe is moved in a patient body. PSOLUTION: This method to determine a position and orientation of a matter includes a process to set three independent sensors for electromagnetic radiation onto the matter, a process to set three independent transmitting antennas each of which has a fixed position in a reference frame and in which at least one is spatially extended, a process to transmit electromagnetic radiation using the transmitting antennas wherein the feature is that the first transmitting antenna transmits the electromagnetic radiation of first spectrum, the second transmitting antenna transmits the electromagnetic radiation of second spectrum other than the first spectrum, the third transmitting antenna transmits third spectrum electromagnetic radiation other than the first spectrum, a process to receive signals corresponding to electromagnetic radiation synchronizing with transmission of electromagnetic radiation in all the three sensors a plurality of times, and a process to non-iteratively estimate a position and orientation of the matter from signals. PCOPYRIGHT: (C)2005,JPO&NCIPI