Patent ID: 8885177

Claim:
A medical Wide Field Of View optical tracking system for determining the position and orientation of a target object in a reference coordinate system comprising: at least three light emitters; at least one optical detector, at least one of said at least one optical detector being a Wide Field Of View optical detector, said Wide Field Of View optical detector acquiring at least one image of at least one light emitter within the field of view of said Wide Field Of View optical detector, each of said at least one Wide Field Of View optical detector including: an optical sensor, for sensing light received from said at least one light emitter within the field of view of said Wide Field Of View optical detector; and at least two optical receptors, optically coupled with said optical sensor, each of said optical receptors including an entrance pupil, said optical receptors being spatially spaced apart from each other, each of said optical receptors projecting a different angular section of an observed scene on said optical sensor; a processor, coupled with each of said at least one optical detector, said processor determining the position and orientation of said target object in said reference coordinate system, at least according to representations of said at least three light emitters, wherein, each of said at least three light emitters is within the field of view of at least one of said at least one optical detector, wherein each one of said at least one optical detector and each one of said at least three light emitters is adapted to be attached to a respective one of said target object and a reference location, said reference location being associated with said reference coordinate system, and wherein said target object and said reference location are respective elements in a tuple including two elements from a group consisting of a display, a patient body location, a medical tool, physician body location, and a fixed position.