while many of the improvements here disclosed and claimed are applicable to several different types of artificial sensing systems , they are here specifically described as embodied in the at present preferred embodiment , a particular artificial vision system . as may best be seen in fig1 and 2 , the subject is provided with a camera generally designated a which , for convenience , is mounted on the right lens 2 of a pair of sunglasses 4 worn by the subject . that camera is electrically connected to a computer and electronics package generally designated b carried by the subject , that package having an output cable 6 which is connected through the subject &# 39 ; s scalp to an array of electrodes generally designated c and shown in fig4 implanted on the subject &# 39 ; s brain , either on the visual cortex or the association cortex . the associated circuitry and particularly the associated software , converts what the camera a “ sees ” into electric signals applied to selected electrodes of the array c , thereby to produce in the subject &# 39 ; s consciousness a series of phosphenes . the location of the phosphene or phosphenes associated with a particular electrode does not correspond to the location of that electrode on the array c , and hence it is necessary to ascertain , for each such electrode , where the associated phosphene or phosphenes as sensed by the subject are located . this must be done in order to direct the signals produced by the camera a to the appropriate electrodes so as to produce for the subject a group of phosphenes representing what the camera “ sees ”. fig5 represents a typical map in visual space showing the location , for one subject , of the phosphenes associated with certain selected electrodes identified by corresponding number in fig4 . when stimulated , each electrode produces perhaps 1 - 4 closely spaced phosphenes . each phosphene in a cluster ranges in size up to the diameter of a pencil at arms length . neighboring phosphenes in each cluster are generally too close to the adjacent phosphenes for another phosphene to be located between them . the electrical connection between the electrodes of the array c and the appropriate locations on the brain of the subject is preferably accomplished through the use of a platinum foil ground plane perforated with a hexagonal array of 5 mm . diameter holes on 3 mm . centers . flat platinum electrodes 1 mm , in diameter are centered in each hole . this ground plane confines all current to a location beneath the dura , thus eliminating discomfort due to dural excitation when stimulating some single electrodes and when other arrays of electrodes are stimulated simultaneously . the ground plane also eliminates most phosphene interaction when multiple electrodes are stimulated simultaneously , and provides an additional means of electrical safety that is not possible when stimulating between cortical electrodes and a ground plane outside the skull . each electrode is connected by a separate teflon insulated wire to a connector contained in a percutaneous pedestal accessible at the interior of the subject &# 39 ; s scalp . as shown in fig3 the signals produced by the camera a — normal conventional television signals — are fed to link 6 , such as the known national television standard committee (“ ntsc ”) link , which converts the normal television signal to a digital video signal that a computer can “ understand ”. the output of that link 6 is fed to a sub - notebook computer 8 , which in turn feeds a micro - controller and stimulus generator 10 , which in turn produces the signals to select and stimulate the appropriate electrodes of the implanted array c . in a preferred embodiment the camera a is a 492 × 512 pixel ccd ( charge - coupled - device ”) black and white television camera powered by a 9 volt battery . this f 14 . 5 camera has a 69 ° field of vision and utilizes a pinhole aperture instead of a lens to minimize size and weight . it also incorporates an electronic “ iris ” for automatic exposure control . the sub - notebook computer 8 incorporates a 233 mhz microprocessor with 32 mb of ram and a 4 . 0 gb hard drive . it also has an lcd screen and keyboard . it was selected because of its very small size and light weight . the belt pack b contains the link 6 , the sub - notebook computer 8 , the micro - controller 10 and associated circuitry and software . the computer and electronics package together are about the size of a dictionary and weigh approximately 10 pounds , including camera , cables , and rechargeable batteries . the battery pack for the computer will operate for approximately 3 hours and the battery pack for the other elements will operate for approximately 6 hours . stimulation delivered to each electrode typically consists of a train of six pulses delivered at 30 hz to produce each frame of the image . frames have been produced with 1 - 50 pulses , and frame rates have been varied from 1 to 20 frames per second . frame rates of 4 per second currently seem best , even with trains containing only a single pulse . each pulse is symmetric , biphasic (−/+), with a pulse width of 500 usec per phase ( 1 , 000 usec total ). threshold amplitudes may vary +/− 20 % from day to day ; they are higher than the thresholds of similar electrodes without the ground plane , presumably because current shunts across the surface of the piarachnoid and encapsulating membrane . the system is calibrated each morning by re - computing the thresholds for each electrode , a simple procedure that takes the volunteer approximately 15 minutes with a numeric keypad . in order to extract intelligence from the camera segment it is not necessary to use all of the 64 electrodes that are provided in the installation illustrated in fig4 but as a practical matter a plurality of such electrodes must be simultaneously energized if a meaningful phosphene image is to be produced . it has been found that as few as 10 electrodes need be energized to produce a particular frame . with an appropriate pulse width and pulse frequency it is possible to energize the desired number of electrodes from a single drive by utilizing the time slots between the pulses destined for one electrode to receive pulses selected for a series of other electrodes . this is readily accomplished by using a conventional demultiplexer circuit in reverse . the conventional demultiplexer circuit accepts a series of inputs and feeds them in predetermined order to a single output . as used here , the demultiplexer circuit will take a single input signal and feed it seriatim to a number of outputs corresponding to the desired number of electrodes to be energized . thus the multiplexer circuit will feed a first pulse to a series of electrodes in order , it will then feed a second pulse to the same series of electrodes preferably in the same order , and so on . the frequency at which the pulses are produced and the width of those pulses determine the intervals of time available for pulses to be directed to a selected series of electrodes . brightness of the phosphenes can easily be modulated by changes in pulse amplitude . however , provision of “ gray scale ” has not proven very valuable so far , probably because of the combination of tunnel vision and limited resolution . the phosphene display is planar , but is of uncertain distance , like the stars , in the sky . this presents to the subject a problem in depth perception . it is normally difficult for him to determine whether one sensed object is at the same distance from the camera as another sensed object . ultrasonic rangefinders have been known for many years and have been used by the blind . conventionally such rangefinders translate sensed distance into normally sensed signals such as audio signals , but those normally sensed signals interfere with the ability of the subject to use his sense of hearing or other sense in its normal fashion . in accordance with the present invention , to overcome that disadvantage an ultrasonic rangefinder may be utilized with the present system , as , for example , being secured to the left lens 10 of the sunglasses 4 , but the output of that rangefinder is caused to give rise in the nervous system to a visible distance indication — illumination of specific phosphenes to represent specific distances ( e . g ., near , medium , or far ) or periodic variations in the produced stimulation , for example a periodic variation in brightness , and preferably a blinking on and off , at a rate corresponding to the sensed distance . thus the acuity and intelligibility of the subject &# 39 ; s sense of hearing is not compromised although the subject is given an indication of the relative distance to various objects . the camera a must be small , light and inconspicuous if it is to be carried by the sunglasses 4 . such a camera is necessarily optically simple . for example , the camera 2 disclosed in fig1 has a non - variable 69 ° field of vision and any attempt to alter its field of vision or to provide a “ zoom ” feature would involve heavy and conspicuous equipment , which is of course contraindicated . however , if the system between the camera a and the electrode array c is provided with appropriate circuitry to controllably magnify the amplitude of the stimulation , magnification of the signals fourfold or more will produce an image which , because the field of vision is limited , exceeds the tunnel limitation of the camera , thus producing a “ zoom ” effect . the amplification can be under the control of the subject if desired . one limitation on the intelligibility of phosphene images in the subject &# 39 ; s brain is the number of frames that can be sequentially created in a given period of time . the greater the number of frames in a period of time the more intelligence is transmitted to the subject , but the greater are the demands which are placed on the system , and the system is essentially limited by the state - of - the - art and the necessity that it be readily portable by the subject . producing one frame per second is too slow to provide good mobility to the subject , and merely increasing the frame rate , all else being constant , does not itself produce an phosphene image of appropriate clarity . these problems have been greatly ameliorated by two steps — darkness inversion and edge detection . darkness inversion means that the signal from the camera a is in effect reversed or inverted , so that dark - sensed portions of the camera - viewed image result in light - producing signals applied to the electrodes and light - sensed portions of the camera - viewed image result in dark - producing signals applied to the electrodes . edge detection — producing an image in which edges are sensed and intensified — is a known procedure in other contexts . when edge detection , particularly using sobel filters , is employed in a system of the type under discussion , and particularly when it is used in conjunction with darkness inversion , that permits processing and transmitting images in a 233 mhz system at , a speed up to 8 frames per second with existing equipment , which in turn results in greatly improved transmissions of intelligence to the subject . fig6 and 7 are illustrative of the effects thus achieved . fig6 discloses a typical demonstration set up comprising a mannequin 12 , a cap 14 , and three different sockets 16 , 18 , and 20 mounted on a wall 22 . with darkness inversion and particularly with edge detection the resultant phosphene image is as shown in fig7 . sensing an image of the type disclosed in fig7 the subject is easily able to find the mannequin and the cap and to detect the sockets . similarly , doorways would appear as an outline of white phosphenes on a black background , making the location of the doorway very clear to the subject . important to the operation and particularly the improvement of the system is the ability of the supervisor or designer of the system to know precisely how the system is operating , what it is accomplishing and what it is not accomplishing the system of the present invention is provided with several new features to improve supervision and facilitate improvement of design . for example , it is important that the supervisor - designer ( hereinafter generically designated “ operator ”) know what particular phosphene pattern or other stimulation is being presented to the subject at any given moment . to that end , and as shown in fig3 the sub - notebook computer 8 may not only send intelligence to the micro - controller 10 but also send it to an rf transmitter 26 which is electromagnetically linked at 28 with rf receiver 30 which in turn is linked to a vcr and monitor 32 . hence the monitor 32 lets the operator know what the subject is “ seeing ”. simultaneously a display may show to the operator what the camera a is seeing . in its preferred form the two displays — what the camera sees and the corresponding phosphene map — may be provided on a split screen for convenient comparison . along the same lines , it is helpful to the operator , as he observes the subject using the system , to know precisely in what direction the subject is “ looking ” at any given moment , that information to be correlated with the displays just described , observation of the physical movements of the subject , or otherwise . to that end , and as may be seen in fig1 the sunglasses 4 worn by the subject carry on a temple piece a laser generator 38 which emits a narrow beam of light directed in the same direction as that in which the subject is looking and which therefore will produce a visible spot of light at the appropriate point on the scene being viewed . the phosphene map is produced by selectively energizing particular electrodes and asking the subject to identify the location of the phosphene as he sees it . this procedure is complicated by the fact that all phosphenes are produced in a relatively small area , which makes pointing difficult , and that difficulty is compounded by the fact that phosphenes move with movement of the subject &# 39 ; s eye . accuracy of the phosphene map for each subject is important in selecting the particular electrodes to be energized at any given moment in order to produce in the subject &# 39 ; s brain an accurate image of what the camera is “ seeing ”. in order to produce a more accurate phosphene map a new procedure has been created — first two pre - selected electrodes are energized to produce two spaced phosphenes which define a reference line , generally but not necessarily vertical . then while those two phosphenes continue to be produced , other individual electrodes are individually energized and the subject is asked to identify the location of the phosphene thus produced relative to the locations of the two original phosphenes and the reference line which the latter define . this is usually done in terms of the vertical spacing between each individually produced phosphene and the two reference phosphenes as well as the distance of the individually produced phosphene to one side or the other of the reference line connecting the original phosphenes . in this way , a more accurate phosphene map is produced . with a system of the type here disclosed a blind subject is readily able to navigate among a “ family ” of three mannequins — standing adult male , seated adult female and standing 3 - year old child — randomly placed in a large room , without bumping into any of them . he can then retrieve a cap which has been placed on a wall in a random location , and can place that cap on the head of a designated mannequin . subjects are able to recognize and identify characters in various standardized forms used in acuity tests , such as snellen letters , landolt links and lea figures displayed to the subjects as pure black figures on a pure white background of a size corresponding to a visual acuity of approximately 20 / 2400 . the conversion of camera signals or other signals into appropriate electrode pulses is accomplished by means of circuity and particularly software which is state - of - the - art . the artificial vision system in its present stage of development has not yet been perfected to the degree that it will permit the subject to read easily , but it does give the subject sufficient intelligence so that he can move about safely and perform various physical tasks . by way of example , a subject provided with a system of the type here described has not only been able to move about an apartment but has even been able to enter a subway station and determine the location of the doors on a train that has pulled into the station . while a limited number of embodiments of the present invention have been here specifically disclosed , which can function individually or cumulatively , and many of which are not limited to use in an artificial vision system , it will be apparent that many variations may be made therein , all without departing from the spirit of the invention as defined in the following claims .
an artificial system for vision and the like , in which a camera views an object and creates signals corresponding thereto which are conveyed to the nervous system of the subject , in which observation , control and improvement of the system is achieved by providing a display which enables the supervisor to simultaneously see what the camera sees at any particular moment and what sensations the subject experiences , and to determine the relative locations of the sensations in the nervous system of a particular subject by producing individual sensations in a particular sequence and spatially locating the sensations in a particular fashion with the assistance of the subject .