Claims
- 1. A navigation apparatus comprising:
a navigation-related information generating section for generating navigation-related information by measuring the relative position and orientation of an object and a target in a three-dimensional space in order to navigate said object to said target; and a display section for displaying said navigation-related information generated by said navigation-related information generating section in different modes according to the relative position and orientation of said object and said target.
- 2. A navigation apparatus comprising:
a navigation-related information generating section for generating navigation-related information by measuring the relative position and orientation of an object and a target in a three-dimensional space in order to navigate said object to said target; and a display section for displaying at least a model image of the object or the target, information on the direction of navigation or information on the distance between the object of navigation and the target when said navigation-related information generating section can measure said position and orientation in a three-dimensional space but displaying information indicating a measurement incapable situation when said navigation-related information generating section cannot measure said position and orientation.
- 3. A navigation apparatus according to claims 1 and 2, wherein
said object has an image acquisition function; and said display section can display the image acquired by the image acquisition function of said object with other navigation-related information in an overlaid.
- 4. A navigation apparatus adapted to generate information for navigating an object to a target comprising:
a three-dimensional position and orientation measuring section for measuring the three-dimensional position and orientation of said object and that of said target; an information generating section for generating information necessary for the navigation on the basis of the obtained result of said three-dimensional position and orientation measuring section; and a display section for displaying the information generated by said information generating section; wherein said display section displays navigation-related information according to at least information on the distance between said object and said target, information on the direction toward said target as viewed from said object and information if either said object or said target is located within the effective area of measurement of said three-dimensional position and orientation measuring section in a display mode selected out of a plurality of display modes.
- 5. A navigation apparatus according to claim 4, wherein
said display section displays at least profile information on said target or said object, internal tomographic information on said target, information on the direction toward said target as viewed from said object or vice versa or information on the distance between said object and said target when said target and said object is measurable by said three-dimensional position and orientation measuring section but displays information indicating a measurement incapable situation when neither said target nor said object is measurable by said three-dimensional position and orientation measuring section.
- 6. A navigation apparatus according to claim 4, wherein
said object has an image acquisition function; and said display section can display the image acquired by the image acquisition function of said object with other navigation-related information in an overlaid.
- 7. A navigation apparatus according to claim 4, wherein
said navigation-related information displayed on the display section changes its color as a function of the relative distance between said target and said object or the direction toward said target as viewed from said object.
- 8. A navigation apparatus according to claim 4, wherein
the thickness of the lines of the navigation-related information displayed on the display section changes as a function of the relative distance between said target and said object or the direction toward said target as viewed from said object.
- 9. A navigation apparatus according to claim 4, wherein
a profile model of the target and an internal tomographic image are displayed alternatively on said display section as a function of the distance between said target and said object.
- 10. A navigation apparatus according to claim 4, wherein
the density of lines displayed on said display section for drawing said target model image is varied as a function of the distance between said target and said object.
- 11. A navigation apparatus according to claim 4, wherein
an image representing said target and directional information of said target are displayed alternatively on said display section as a function of the distance between said target and said object or the direction toward said target as viewed from said object.
- 12. A navigation apparatus according to claim 4, wherein
direction information of said target is displayed on said display section in the form of a symbol at least whose size or shape varies as a function of the distance between said target and said object or the direction toward said target as viewed from said object.
- 13. A navigation apparatus comprising:
a target of navigation; an object to be navigated to said target; a three-dimensional position and orientation measuring section for measuring the three-dimensional position and orientation of at least said target or said object of navigation; a computational information determining section for generating navigation-related information on the basis of the information obtained by the measurement of said three-dimensional position and orientation measuring section and controlling the generated information; and an information display section for display the navigation-related information generated and controlled by said computational information determining section; the relative distance between the target and the object of navigation and their orientations in a three-dimensional space are determined by the three-dimensional position and orientation measuring section; wherein said computational information determining section modifies either the attribute or the type of said navigation-related information as a function of at least the relative distance between said target and said object of navigation or the direction toward said target as viewed from said object measured by said three-dimensional position and orientation measuring section or the immeasurability thereof so as to make it visibly reflect the outcome of measurement.
- 14. A navigation apparatus according to claim 13, wherein
said navigation-related information includes a model image of the profile of the target and/or that of the object of navigation, a model image of the internal tomographic information of the target, a symbol pattern indicating the direction in which the target and/or the object of navigation will be found and/or a numerical value or a symbol pattern indicating the distance between the target and the object of navigation when said three-dimensional position and orientation measuring section is operating normally whereas it includes character information or a symbol pattern indicating an immeasurable situation when the three-dimensional position and orientation measuring section is inoperative.
- 15. A navigation apparatus according to claim 13, wherein
said object of navigation has an image acquisition function and the acquired image obtained by means of the image acquisition function is displayed with other navigation-related information obtained by said computational information determining section in an overlaid manner by means of said computational information determining section.
- 16. A navigation apparatus according to claim 13, wherein
the navigation-related information displayed on the display section changes its color as a function of the relative distance between said target and said object of navigation or the direction toward said target as viewed from said object of navigation.
- 17. A navigation apparatus according to claim 13, wherein
the thickness of the lines of the navigation-related information displayed on the display section changes as a function of the relative distance between said target and said object of navigation and/or the direction toward the target as viewed from the object of navigation.
- 18. A navigation apparatus according to claim 13, wherein
the profile model of said target and the internal tomographic image are switched from one to the other on the display section as a function of the relative distance between said target and said object of navigation.
- 19. A navigation apparatus according to claim 13, wherein
the density of lines of the displayed target model image is modified as a function of the relative distance between said target and said object of navigation.
- 20. A navigation apparatus according to claim 13, wherein
a model image of at least either said target or said object of navigation or a symbol pattern indicating the direction in which at least said target or said object of navigation is found is displayed alternatively as a function of the relative distance between said target and said object of navigation and the direction toward the target as viewed from the object of navigation.
- 21. A navigation apparatus according to claim 13, wherein
the size of the symbol pattern indicating the direction of said target as viewed from the object of navigation is modified as a function of the relative distance between said target and said object of navigation.
- 22. A surgical operation image acquisition/display apparatus comprising:
an observation section having a plurality of observation units and adapted to modify its position and orientation; an image display section adapted to alternatively or synthetically display the images obtained by said plurality of observation units of said observation section; and a specifying section for specifying the images to be displayed according to the position and orientation of said observation section.
- 23. A surgical operation image acquisition/display apparatus comprising:
an observation section having a plurality of observation units and adapted to modify its position and orientation; an image display section adapted to display each of the images obtained by said plurality of observation unit of said observation section in a size either enlarged or reduced with an independently selected magnitude; and a specifying section for specifying the images to be synthetically combined according to the position and orientation of said observation section.
- 24. A surgical operation image acquisition/display apparatus comprising:
an observation section having a plurality of observation units and adapted to modify its position and orientation; an image display section adapted to display an selected from the images obtained by said plurality of observation section of said observation section; and a specifying section for specifying the image to be selected according to the position and orientation of said observation section.
- 25. A surgical operation image acquisition/display apparatus comprising:
an observation section having a plurality of observation units and adapted to modify its position and orientation relative to an area of surgical operation; an image display section adapted to synthetically display the images obtained by said plurality of observation units of said observation section in a mode selected out of a plurality of different modes; and a specifying section for specifying a mode of image synthesis to said image display section according to the position and orientation of said observation section.
- 26. A surgical operation image acquisition/display apparatus comprising:
an observation section having a surgical microscope adapted to modify its position and orientation and an endoscope also adapted to modify its position and orientation; a detection section for detecting the position and orientation of said observation section; an image display section adapted to synthetically combine the image observed by said surgical microscope and the image observed by said endoscope and display the images in a mode selected out of a plurality of different modes; and a specifying section for specifying the mode of image synthesis to said image display section according to the outcome of the detection of said detection section.
- 27. A surgical operation image acquisition/display apparatus comprising:
an observation section having a surgical microscope adapted to modify its position and orientation and an endoscope also adapted to modify its position and orientation; a detection section for detecting the position and orientation of said observation section; an image display section adapted to alternatively display the image observed by said surgical microscope or the image observed by said endoscope; and a specifying section for specifying the image to be displayed according to the outcome of the detection of said detection section.
- 28. A surgical operation image acquisition/display apparatus according to claim 22, wherein said specifying section specifies in accordance with the distance between the area of surgical operation and the observation section.
- 29. A surgical operation image acquisition/display apparatus comprising:
a first observation section for observing an area of surgical operation; a second observation section arranged apart from said first observation section and adapted to observe at least said area of surgical operation or the vicinity thereof; an observed image synthesizing section for synthetically combining the image observed by said first observation section and the image observed by said second observation section; a display section for display the image synthesized by said observed image synthesizing section; a position and orientation detection section for detecting at least either the position and orientation of said first observation section of that of said second observation section; and a state of synthesis modification specifying section for specifying the modification made to the state of synthesis of the observed images to said observed image synthesizing section according to the position and orientation information from said position and orientation detection section.
- 30. A surgical operation image acquisition/display apparatus according to claim 29, wherein said state of synthesis modification specifying section specifies for use either the image observed by said first observation section or the image observed by said second observation section according to the position and orientation information of either said first observation section of said second observation section fed from said position and orientation detection section and either the relative distance between said area of surgical operation and said first observation section or the direction of said area of surgical operation as viewed from said second observation section.
- 31. A surgical operation image acquisition/display apparatus according to claim 29, wherein said state of synthesis modification specifying section specifies reduction of either the image observed by said first observation section or the image observed by said second observation section according to the position and orientation information of either said first observation section of said second observation section fed from said position and orientation detection section and either the relative distance between said area of surgical operation and said first observation section or the direction of said area of surgical operation as viewed from said second observation section, and synthesis the reduced image into the other image.
- 32. A navigation apparatus comprising:
navigation-related information generating means for generating navigation-related information by measuring the relative position and orientation of an object and a target in a three-dimensional space in order to navigate said object to said target; and display means for displaying said navigation-related information generated by said navigation-related information generating means in different modes according to the relative position and orientation of said object and said target.
- 33. A navigation apparatus comprising:
navigation-related information generating means for generating navigation-related information by measuring the relative position and orientation of an object and a target in a three-dimensional space in order to navigate said object to said target; and display means for displaying at least a model image of the object or the target, information on the direction of navigation or information on the distance between the object of navigation and the target when said navigation-related information generating means can measure said position and orientation in a three-dimensional space but displaying information indicating a measurement incapable situation when said navigation-related information generating means cannot measure said position and orientation.
- 34. A navigation apparatus adapted to generate information for navigating an object to a target comprising:
three-dimensional position and orientation measuring means for measuring the three-dimensional position and orientation of said object and that of said target; information generating means for generating information necessary for the navigation on the basis of the obtained result of said three-dimensional position and orientation measuring means; and display means for displaying the information generated by said information generating means; wherein said display means displays navigation-related information according to at least information on the distance between said object and said target, information on the direction toward said target as viewed from said object and information if either said object or said target is located within the effective area of measurement of said three-dimensional position and orientation measuring means in a display mode selected out of a plurality of display modes.
- 35. A navigation apparatus comprising:
a target of navigation; an object to be navigated to said target; three-dimensional position and orientation measuring means for measuring the three-dimensional position and orientation of at least said target or said object of navigation; computational information determining means for generating navigation-related information on the basis of the information obtained by the measurement of said three-dimensional position and orientation measuring means and controlling the generated information; and information display means for display the navigation-related information generated and controlled by said computational information determining means; the relative distance between the target and the object of navigation and their orientations in a three-dimensional space are determined by the three-dimensional position and orientation measuring means; wherein said computational information determining means modifies either the attribute or the type of said navigation-related information as a function of at least the relative distance between said target and said object of navigation or the direction of said target as viewed from said object measured by said three-dimensional position and orientation measuring means or the immeasurability thereof so as to make it visibly reflect the outcome of measurement.
- 36. A surgical operation image acquisition/display apparatus comprising:
observation means having a plurality of observation sections and adapted to modify its position and orientation; image display means adapted to alternatively or synthetically display the images obtained by said plurality of observation sections of said observation means; and specifying means for specifying the images to be displayed according to the position and orientation of said observation section.
- 37. A surgical operation image acquisition/display apparatus comprising:
observation means having a plurality of observation sections and adapted to modify its position and orientation; image display means adapted to display each of the images obtained by said plurality of observation sections of said observation section in a size either enlarged or reduced with an independently selected magnitude; and specifying means for specifying the images to be synthetically combined according to the position and orientation of said observation means.
- 38. A surgical operation image acquisition/display apparatus comprising:
observation means having a plurality of observation sections and adapted to modify its position and orientation; image display means adapted to display an selected from the images obtained by said plurality of observation sections of said observation means; and specifying means for specifying the image to be selected according to the position and orientation of said observation means.
- 39. A surgical operation image acquisition/display apparatus comprising:
observation means having a plurality of observation means and adapted to modify its position and orientation relative to an area of surgical operation; image display means adapted to synthetically display the images obtained by said plurality of observation means of said observation section in a mode selected out of a plurality of different modes; and specifying means for specifying a mode of image synthesis to said image display means according to the position and orientation of said observation section.
- 40. A surgical operation image acquisition/display apparatus comprising:
observation means having a surgical microscope adapted to modify its position and orientation and an endoscope also adapted to modify its position and orientation; a detection means for detecting the position and orientation of said observation means; image display means adapted to synthetically combine the image observed by said surgical microscope and the image observed by said endoscope and display the images in a mode selected out of a plurality of different modes; and specifying means for specifying the mode of image synthesis to said image display means according to the outcome of the detection of said detection means.
- 41. A surgical operation image acquisition/display apparatus comprising:
observation means having a surgical microscope adapted to modify its position and orientation, and an endoscope also adapted to modify its position and orientation; detection means for detecting the position and orientation of said observation means; image display means adapted to alternatively display the image observed by said surgical microscope or the image observed by said endoscope; and specifying means for specifying the image to be displayed according to the outcome of the detection of said detection means.
- 42. A surgical operation image acquisition/display apparatus comprising:
first observation means for observing an area of surgical operation; second observation means arranged apart from said first observation means and adapted to observe at least said area of surgical operation or the vicinity thereof; observed image synthesizing means for synthetically combining the image observed by said first observation means and the image observed by said second observation means; display means for display the image synthesized by said observed image synthesizing means; position and orientation detection means for detecting at least either the position and orientation of said first observation means of that of said second observation means; and state of synthesis modification specifying means for specifying the modification made to the state of synthesis of the observed images to said observed image synthesizing means according to the position and orientation information from said position and orientation detection means.
Priority Claims (2)
Number |
Date |
Country |
Kind |
11-089405 |
Mar 1999 |
JP |
|
11-163964 |
Jun 1999 |
JP |
|
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is based upon and claims the benefit of priority from the prior Japanese Patent Applications No. 11-089405, filed Mar. 30, 1999; and No. 11-163964, filed Jun. 10, 1999, the entire contents of which are incorporated herein by reference.
Divisions (1)
|
Number |
Date |
Country |
Parent |
09533651 |
Mar 2000 |
US |
Child |
09875628 |
Jun 2001 |
US |