US6615155B2 — Object tracking using a single sensor or a pair o…

Claim 1

Independent Claim 149 words

A method of tracking an object that moves in three dimensions, comprising the steps of: (a) providing the object with at least one vector field component sensor for measuring a respective component of a vector field; (b) for each said at least one vector field component sensor, empirically determining parameters of a set of equations that relate said respective component only to a position of the object with respect to a reference frame; (c) providing a plurality of vector field generators for generating respective instances of said vector field, each said generator having a fixed respective position in said reference frame; (d) for each said generator: (i) generating said respective instance of said vector field, and (ii) for each said at least one sensor, measuring said respective component of said respective instance of said vector field; and (e) solving said set of equations for said position of the object.

Claim 2

Independent Claim 149 words

A method of tracking an object that moves in three dimensions, comprising the steps of: (a) providing the object with at least one vector field component sensor for measuring a respective component of a vector field; (b) for each said at least one vector field component sensor, empirically determining parameters of a set of equations that relate said respective component only to a position of the object with respect to a reference frame; (c) providing a plurality of vector field generators for generating respective instances of said vector field, each said generator having a fixed respective position in said reference frame; (d) for each said generator: (i) generating said respective instance of said vector field, and (ii) for each said at least one sensor, measuring said respective component of said respective instance of said vector field; and (e) solving said set of equations for said position of the object.

Claim 3

Dependent Claim 14 words

The method of claim 1 , wherein said vector field is a magnetic field.

Claim 4

Dependent Claim 22 words

The method of claim 2 , wherein each said at least one sensor includes at least one loop of an electrical conductor.

Claim 5

Dependent Claim 17 words

The method of claim 2 , wherein each said at least one sensor includes a single-component magnetometer.

Claim 6

Dependent Claim 33 words

The method of claim 2 , wherein each said generator includes a radiator of said respective instance of said vector field, each said radiator including at least one loop of an electrical conductor.

Claim 7

Dependent Claim 12 words

The method of claim 1 , wherein said generators are mutually independent.

Claim 8

Dependent Claim 30 words

The method of claim 1 , wherein each said generator includes a radiator of said respective instance of said vector field, at least one of said radiators being spatially extended.

Claim 9

Dependent Claim 17 words

The method of claim 1 , wherein the object is provided with at most two said sensors.

Claim 10

Dependent Claim 16 words

The method of claim 8 , wherein at least three said vector field generators are provided.

Claim 11

Dependent Claim 16 words

The method of claim 8 , wherein the object is provided with exactly one said sensor.

Claim 12

Dependent Claim 42 words

The method of claim 10 , wherein at least five said vector field generators are provided, and wherein said generating of said instances of said vector fields includes generating three independent groups of said instances, each said group including three said instances.

Claim 13

Dependent Claim 29 words

The method of claim 1 , wherein said equations are polynomials in coordinates of said position of the object, said parameters of said equations being coefficients of said polynomials.

Claim 14

Dependent Claim 24 words

The method of claim 1 , further comprising the step of: (f) computing an orientation of the object with respect to said reference frame.

Claim 15

Independent Claim 147 words

A method of tracking an object that moves in three dimensions, comprising the steps of: (a) providing the object with at most two vector field component sensors for measuring respective components of a vector field; (b) for each said at most two vector field component sensors, determining parameters of a set of equations that relate said respective component only to a position of the object with respect to a reference frame; (c) providing at least three vector field generators for generating respective instances of said vector field, each said generator having a fixed respective position in said reference frame; (d) for each said generator: (i) generating said respective instance of said vector field, and (ii) for each said at most two sensors, measuring said respective component of said respective instance of said vector field; and (e) solving said set of equations for said position of the object.

Claim 16

Independent Claim 147 words

A method of tracking an object that moves in three dimensions, comprising the steps of: (a) providing the object with at most two vector field component sensors for measuring respective components of a vector field; (b) for each said at most two vector field component sensors, determining parameters of a set of equations that relate said respective component only to a position of the object with respect to a reference frame; (c) providing at least three vector field generators for generating respective instances of said vector field, each said generator having a fixed respective position in said reference frame; (d) for each said generator: (i) generating said respective instance of said vector field, and (ii) for each said at most two sensors, measuring said respective component of said respective instance of said vector field; and (e) solving said set of equations for said position of the object.

Claim 17

Dependent Claim 14 words

The method of claim 14 , wherein said vector field is a magnetic field.

Claim 18

Dependent Claim 19 words

The method of claim 15 , wherein each said sensor includes at least one loop of an electrical conductor.

Claim 19

Dependent Claim 14 words

The method of claim 15 , wherein each said sensor includes a single-component magnetometer.

Claim 20

Dependent Claim 33 words

The method of claim 15 , wherein each said generator includes a radiator of said respective instance of said vector field, each said radiator including at least one loop of an electrical conductor.

Claim 21

Dependent Claim 12 words

The method of claim 14 , wherein said generators are mutually independent.

Claim 22

Dependent Claim 30 words

The method of claim 14 , wherein each said generator includes a radiator of said respective instance of said vector field, at least one of said radiators being spatially extended.

Claim 23

Dependent Claim 16 words

The method of claim 14 , wherein the object is provided with exactly one said sensor.

Claim 24

Dependent Claim 42 words

The method of claim 21 , wherein at least five said vector field generators are provided, and wherein said generating of said instances of said vector fields includes generating three independent groups of said instances, each said group including three said instances.

Claim 25

Dependent Claim 12 words

The method of claim 14 , wherein said parameters are determined empirically.

Claim 26

Dependent Claim 12 words

The method of claim 14 , wherein said parameters are determined theoretically.

Claim 27

Dependent Claim 29 words

The method of claim 14 , wherein said equations are polynomials in coordinates of said position of the object, said parameters of said equations being coefficients of said polynomials.

Claim 28

Dependent Claim 24 words

The method of claim 14 , further comprising the step of: (f) computing an orientation of the object with respect to said reference frame.

Claim 29

Independent Claim 106 words

A system for tracking an object that moves in three dimensions, comprising: (a) at least one vector field component sensor, associated with the object, for measuring a respective component of a vector field; (b) a processor for solving a set of equations that relate, for each said at least one sensor, said respective component of said vector field only to a position of the object with respect to a reference frame; (c) a memory for storing empirically determined parameters of said equations; and (d) a plurality of vector field generators, having fixed respective positions in said reference frame, for generating respective instances of said vector field.

Claim 30

Independent Claim 106 words

A system for tracking an object that moves in three dimensions, comprising: (a) at least one vector field component sensor, associated with the object, for measuring a respective component of a vector field; (b) a processor for solving a set of equations that relate, for each said at least one sensor, said respective component of said vector field only to a position of the object with respect to a reference frame; (c) a memory for storing empirically determined parameters of said equations; and (d) a plurality of vector field generators, having fixed respective positions in said reference frame, for generating respective instances of said vector field.

Claim 31

Dependent Claim 14 words

The system of claim 27 , including a single said vector field component sensor.

Claim 32

Dependent Claim 23 words

The system of claim 28 , wherein said single vector field component sensor is included in a distal portion of a guide wire.

Claim 33

Dependent Claim 14 words

The system of claim 27 , including exactly two said vector field component sensors.

Claim 34

Dependent Claim 24 words

The system of claim 30 , wherein said two vector field component sensors are in tandem in a distal portion of a guide wire.

Claim 35

Dependent Claim 56 words

The system of claim 30 , wherein said two vector field component sensors are included in a distal portion of a guide wire, with a first said vector field component sensor being substantially parallel to a longitudinal axis of said guide wire and a second said vector field component sensor being substantially perpendicular to said axis.

Claim 36

Independent Claim 100 words

A system for tracking an object that moves in three dimensions, comprising: (a) at most two vector field component sensors, associated with the object, for measuring respective components of a vector field; (b) a processor for solving a set of equations that relate, for each said sensor, said respective component of said vector field only to a position of the object with respect to a reference frame; (c) a memory for storing parameters of said equations; and (d) at least three vector field generators, having fixed respective positions in said reference frame, for generating respective instances of said vector field.

Claim 37

Independent Claim 100 words

A system for tracking an object that moves in three dimensions, comprising: (a) at most two vector field component sensors, associated with the object, for measuring respective components of a vector field; (b) a processor for solving a set of equations that relate, for each said sensor, said respective component of said vector field only to a position of the object with respect to a reference frame; (c) a memory for storing parameters of said equations; and (d) at least three vector field generators, having fixed respective positions in said reference frame, for generating respective instances of said vector field.

Claim 38

Dependent Claim 14 words

The system of claim 33 , including a single said vector field component sensor.

Claim 39

Dependent Claim 23 words

The system of claim 34 , wherein said single vector field component sensor is included in a distal portion of a guide wire.

Claim 40

Dependent Claim 14 words

The system of claim 33 , including exactly two said vector field component sensors.

Claim 41

Dependent Claim 24 words

The system of claim 36 , wherein said two vector field component sensors are in tandem in a distal portion of a guide wire.

Claim 42

Dependent Claim 56 words

The system of claim 36 , wherein said two vector field component sensors are included in a distal portion of a guide wire, with a first said vector field component sensor being substantially parallel to a longitudinal axis of said guide wire and a second said vector field component sensor being substantially perpendicular to said axis.

Claim 43

Independent Claim 137 words

A method of tracking an object that moves in three dimensions, comprising the steps of: (a) providing the object with at least one vector field component sensor for measuring a respective component of a vector field; (b) empirically determining a rotationally invariant operator that relates said at least one respective component to a position of the object with respect to a reference frame; (c) providing a plurality of vector field generators for generating respective instances of said vector field, each said generator having a fixed respective position in said reference frame; (d) for each said generator: (i) generating said respective instance of said vector field, and (ii) for each said at least one sensor, measuring said respective component of said respective instance of said vector field; and (e) computing said position of the object, using said operator.

Claim 44

Independent Claim 137 words

A method of tracking an object that moves in three dimensions, comprising the steps of: (a) providing the object with at least one vector field component sensor for measuring a respective component of a vector field; (b) empirically determining a rotationally invariant operator that relates said at least one respective component to a position of the object with respect to a reference frame; (c) providing a plurality of vector field generators for generating respective instances of said vector field, each said generator having a fixed respective position in said reference frame; (d) for each said generator: (i) generating said respective instance of said vector field, and (ii) for each said at least one sensor, measuring said respective component of said respective instance of said vector field; and (e) computing said position of the object, using said operator.

Claim 45

Independent Claim 135 words

A method of tracking an object that moves in three dimensions, comprising the steps of: (a) providing the object with at most two vector field component sensors for measuring respective components of a vector field; (b) determining a rotationally invariant operator that relates said at most two respective components to a position of the object with respect to a reference frame; (c) providing at least three vector field generators for generating respective instances of said vector field, each said generator having a fixed respective position in said reference frame; (d) for each said generator: (i) generating said respective instance of said vector field, and (ii) for each said at most two sensors, measuring said respective component of said respective instance of said vector field; and (e) computing said position of the object, using said operator.

Claim 46

Independent Claim 135 words

A method of tracking an object that moves in three dimensions, comprising the steps of: (a) providing the object with at most two vector field component sensors for measuring respective components of a vector field; (b) determining a rotationally invariant operator that relates said at most two respective components to a position of the object with respect to a reference frame; (c) providing at least three vector field generators for generating respective instances of said vector field, each said generator having a fixed respective position in said reference frame; (d) for each said generator: (i) generating said respective instance of said vector field, and (ii) for each said at most two sensors, measuring said respective component of said respective instance of said vector field; and (e) computing said position of the object, using said operator.

Claim 47

Independent Claim 102 words

A system for tracking an object that moves in three dimensions, comprising: (a) at least one vector field component sensor, associated with the object, for measuring a respective component of a vector field; (b) a memory for storing an empirically determined, rotationally invariant operator that relates said at least one respective component of said vector field to a position of the object with respect to a reference frame; (c) a processor for computing said position, using said operator; and (d) a plurality of vector field generators, having fixed respective positions in said reference frame, for generating respective instances of said vector field.

Claim 48

Independent Claim 102 words

A system for tracking an object that moves in three dimensions, comprising: (a) at least one vector field component sensor, associated with the object, for measuring a respective component of a vector field; (b) a memory for storing an empirically determined, rotationally invariant operator that relates said at least one respective component of said vector field to a position of the object with respect to a reference frame; (c) a processor for computing said position, using said operator; and (d) a plurality of vector field generators, having fixed respective positions in said reference frame, for generating respective instances of said vector field.

Claim 49

Independent Claim 99 words

A system for tracking an object that moves in three dimensions, comprising: (a) at most two vector field component sensors, associated with the object, for measuring respective components of a vector field; (b) a memory for storing a rotationally invariant operator that relates said at most two respective components of said vector field to a position of the object with respect to a reference frame; (c) a processor for computing said position, using said operator; and (d) at least three vector field generators, having fixed respective positions in said reference frame, for generating respective instances of said vector field.

Claim 50

Independent Claim 99 words

A system for tracking an object that moves in three dimensions, comprising: (a) at most two vector field component sensors, associated with the object, for measuring respective components of a vector field; (b) a memory for storing a rotationally invariant operator that relates said at most two respective components of said vector field to a position of the object with respect to a reference frame; (c) a processor for computing said position, using said operator; and (d) at least three vector field generators, having fixed respective positions in said reference frame, for generating respective instances of said vector field.

Claim 51

Independent Claim 153 words

A method of tracking an object that moves in three dimensions, comprising the steps of: (a) providing the object with at most two vector field component sensors for measuring respective components of a vector field; (b) for each said at most two vector field component sensors, determining parameters of a set of equations that relate said respective component to a position of the object with respect to a reference frame, independent of an orientation of the object; (c) providing at least three vector field generators for generating respective instances of said vector field, each said generator having a fixed respective position in said reference frame; (d) for each said generator: (i) generating said respective instance of said vector field, and (ii) for each said at most two sensors, measuring said respective component of said respective instance of said vector field; and (e) solving said set of equations for said position of the object.

Claim 52

Independent Claim 153 words

A method of tracking an object that moves in three dimensions, comprising the steps of: (a) providing the object with at most two vector field component sensors for measuring respective components of a vector field; (b) for each said at most two vector field component sensors, determining parameters of a set of equations that relate said respective component to a position of the object with respect to a reference frame, independent of an orientation of the object; (c) providing at least three vector field generators for generating respective instances of said vector field, each said generator having a fixed respective position in said reference frame; (d) for each said generator: (i) generating said respective instance of said vector field, and (ii) for each said at most two sensors, measuring said respective component of said respective instance of said vector field; and (e) solving said set of equations for said position of the object.

Claim 53

Independent Claim 106 words

A system for tracking an object that moves in three dimensions, comprising: (a) at most two vector field component sensors, associated with the object, for measuring respective components of a vector field; (b) a processor for solving a set of equations that relate, for each said sensor, said respective component of said vector field to a position of the object with respect to a reference frame, independent of an orientation of the object; (c) a memory for storing parameters of said equations; and (d) at least three vector field generators, having fixed respective positions in said reference frame, for generating respective instances of said vector field.

Claim 54

Independent Claim 106 words

A system for tracking an object that moves in three dimensions, comprising: (a) at most two vector field component sensors, associated with the object, for measuring respective components of a vector field; (b) a processor for solving a set of equations that relate, for each said sensor, said respective component of said vector field to a position of the object with respect to a reference frame, independent of an orientation of the object; (c) a memory for storing parameters of said equations; and (d) at least three vector field generators, having fixed respective positions in said reference frame, for generating respective instances of said vector field.

Claim 55

Dependent Claim 50 words

The system of claim 29 , wherein said distal portion of said guide wire is substantially helical, and wherein said guide wire also includes a substantially helical, electrically insulating medial portion, said single vector field component sensor being an electrically conducting section of said distal portion of said guide wire.

Claim 56

Dependent Claim 47 words

The system of claim 45 , wherein said distal portion of said guide wire includes a plurality of said electrically conducting sections, each pair of successive said electrically conducting sections having therebetween an electrically insulating section in tandem with said each pair of successive electrically conducting sections.

Claim 57

Dependent Claim 25 words

The system of claim 45 , wherein said guide wire further includes a substantially helical, electrically conducting proximal portion in tandem with said medial portion.

Claim 58

Dependent Claim 57 words

The system of claim 45 , wherein said guide wire further includes a first electrically conducting wire, electrically coupled to a distal end of said distal portion of said guide wire, and wherein said guide wire further includes a second electrically conducting wire, electrically coupled to a proximal end of said distal portion of said guide wire.

Claim 59

Dependent Claim 26 words

The system of claim 48 , wherein said distal and medial portions of said guide wire define an axial channel, wherethrough said electrically conducting wires extend.

Claim 60

Dependent Claim 50 words

The system of claim 31 , wherein said distal portion of said guide wire is substantially helical, said two vector field component sensors being electrically conducting sections of said distal portion of said guide wire that have therebetween an electrically insulating section in tandem with said two electrically conducting sections.

Claim 61

Dependent Claim 29 words

The system of claim 50 , wherein said guide wire further includes a substantially helical, electrically insulating medial portion in tandem with said distal portion of said guide wire.

Claim 62

Dependent Claim 25 words

The system of claim 50 , wherein said guide wire further includes a substantially helical, electrically conducting proximal portion in tandem with said medial portion.

Claim 63

Dependent Claim 57 words

The system of claim 51 , wherein said guide wire further includes a first electrically conducting wire, electrically coupled to a distal end of said distal portion of said guide wire, and wherein said guide wire further includes a second electrically conducting wire, electrically coupled to a proximal end of said distal portion of said guide wire.

Claim 64

Dependent Claim 26 words

The system of claim 53 , wherein said distal and medial portions of said guide wire define an axial channel, wherethrough said electrically conducting wires extend.

Claim 65

Dependent Claim 50 words

The system of claim 35 , wherein said distal portion of said guide wire is substantially helical, and wherein said guide wire also includes a substantially helical, electrically insulating medial portion, said single vector field component sensor being an electrically conducting section of said distal portion of said guide wire.

Claim 66

Dependent Claim 47 words

The system of claim 55 , wherein said distal portion of said guide wire includes a plurality of said electrically conducting sections, each pair of successive said electrically conducting sections having therebetween an electrically insulating section in tandem with said each pair of successive electrically conducting sections.

Claim 67

Dependent Claim 25 words

The system of claim 55 , wherein said guide wire further includes a substantially helical, electrically conducting proximal portion in tandem with said medial portion.

Claim 68

Dependent Claim 57 words

The system of claim 55 , wherein said guide wire further includes a first electrically conducting wire, electrically coupled to a distal end of said distal portion of said guide wire, and wherein said guide wire further includes a second electrically conducting wire, electrically coupled to a proximal end of said distal portion of said guide wire.

Claim 69

Dependent Claim 26 words

The system of claim 58 , wherein said distal and medial portions of said guide wire define an axial channel, wherethrough said electrically conducting wires extend.

Claim 70

Dependent Claim 50 words

The system of claim 37 , wherein said distal portion of said guide wire is substantially helical, said two vector field component sensors being electrically conducting sections of said distal portion of said guide wire that have therebetween an electrically insulating section in tandem with said two electrically conducting sections.

Claim 71

Dependent Claim 29 words

The system of claim 60 , wherein said guide wire further includes a substantially helical, electrically insulating medial portion in tandem with said distal portion of said guide wire.

Claim 72

Dependent Claim 25 words

The system of claim 61 , wherein said guide wire further includes a substantially helical, electrically conducting proximal portion in tandem with said medial portion.

Claim 73

Dependent Claim 57 words

The system of claim 61 , wherein said guide wire further includes a first electrically conducting wire, electrically coupled to a distal end of said distal portion of said guide wire, and wherein said guide wire further includes a second electrically conducting wire, electrically coupled to a proximal end of said distal portion of said guide wire.

Claim 74

Dependent Claim 26 words

The system of claim 63 , wherein said distal and medial portions of said guide wire define an axial channel, wherethrough said electrically conducting wires extend.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2006-09-01	2007-03-03	2007-09-02	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2010-09-01	2011-03-03	2011-09-02	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2014-09-01	2015-03-03	2015-09-02	$7700.00	Window Closed / Lapsed

Object tracking using a single sensor or a pair of sensors

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