Orientation Sensing Of A Rod
AssigneeImmersion Medical, Inc.
InventorsRob Cohen, Tianning Xu
Life of this patent
Estimating the term…
Abstract
A laparoscopy simulator includes two rods and an orientation sensor that determines the orientation of the rods. An optical sensor is used to determine measurements of each rod based on the rotation of the rod around a central axis of the rod and a sliding of the rod along the central axis. An accelerometer is used to determine additional measurements of each rod based on a rotation of the rod around two additional rotation axes of the simulator. The measurements are used to determine the overall orientation of the rods.
Claims23
A method of determining an orientation of an object comprising:
- determining a first measurement and a second measurement of the object using an optical sensor;
- and
- determining a third measurement and a fourth measurement of the object using a first accelerometer.
A medical instrument simulator comprising:
- a base;
- a platform coupled to the arm, said platform adapted to rotate around a first axis and a second axis;
- a rod coupled to the platform;
- an optical sensor coupled to the platform;
- and
- a first accelerometer coupled to the platform.
A method of determining an orientation of a rod comprising:
- receiving a first output of an optical sensor, the first output comprising a rotation of a rod around a central axis of the rod and a slide movement along the central axis;
- and
- receiving a second output of a first accelerometer, the second output comprising a first rotation measurement of the rod around a first axis and a second rotation measurement of the rod around a second axis;
- and
- calculating the orientation based on the first and second output.
A computer readable medium having instructions stored thereon that, when executed by a processor, cause the processor to determine an orientation of a object by:
- determining a first measurement and a second measurement of the object based on data received from an optical sensor;
- and
- determining a third measurement and a fourth measurement of the object based on data received from a first accelerometer.
An apparatus for determining an orientation of an object comprising:
- means for determining a first measurement and a second measurement of the object using an optical sensor;
- and
- means for determining a third measurement and a fourth measurement of the object using a first accelerometer.
Dependencies are inferred from the claim text.