Method and apparatus for controlling a haptic device
First Claim
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1. A method for calibrating a surgical device, comprising the steps of:
- moving an arm of the surgical device into a first position;
receiving, from a detection device, first data indicating at least one of a global position and an orientation of an end effector tracker when the end effector tracker is disposed on a distal portion of the arm of the surgical device with the arm in the first position;
receiving, from the detection device, second data indicating at least one of a global position and an orientation of a device tracker when the device tracker is coupled to a base of the surgical device;
receiving third data indicating at least one of a position and an orientation of the end effector tracker relative to a reference point fixed in relation to the base when the end effector tracker is disposed on the distal portion of the arm of the surgical device with the arm in the first position;
moving the arm of the surgical device into a second position;
receiving, from a detection device, fourth data indicating at least one of a global position and an orientation of the end effector tracker when the end effector tracker is disposed on the distal portion of the arm of the surgical device with the arm in the second position;
receiving fifth data indicating at least one of a position and an orientation of the end effector tracker relative to a reference point fixed in relation to the base when the end effector tracker is disposed on the distal portion of the arm of the surgical device with the arm in the second position;
determining, at least one of the position and the orientation of the device tracker relative to the reference point based at least on each of the first data, the second data, the third data, the fourth data, and the fifth data, while tracking the end effector tracker and the device tracker by the detection device; and
alerting a user if the device tracker moves during the calibration.
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Abstract
A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.
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Citations
17 Claims
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1. A method for calibrating a surgical device, comprising the steps of:
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moving an arm of the surgical device into a first position; receiving, from a detection device, first data indicating at least one of a global position and an orientation of an end effector tracker when the end effector tracker is disposed on a distal portion of the arm of the surgical device with the arm in the first position; receiving, from the detection device, second data indicating at least one of a global position and an orientation of a device tracker when the device tracker is coupled to a base of the surgical device; receiving third data indicating at least one of a position and an orientation of the end effector tracker relative to a reference point fixed in relation to the base when the end effector tracker is disposed on the distal portion of the arm of the surgical device with the arm in the first position; moving the arm of the surgical device into a second position; receiving, from a detection device, fourth data indicating at least one of a global position and an orientation of the end effector tracker when the end effector tracker is disposed on the distal portion of the arm of the surgical device with the arm in the second position; receiving fifth data indicating at least one of a position and an orientation of the end effector tracker relative to a reference point fixed in relation to the base when the end effector tracker is disposed on the distal portion of the arm of the surgical device with the arm in the second position; determining, at least one of the position and the orientation of the device tracker relative to the reference point based at least on each of the first data, the second data, the third data, the fourth data, and the fifth data, while tracking the end effector tracker and the device tracker by the detection device; and alerting a user if the device tracker moves during the calibration. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for calibrating a surgical device, comprising the steps of:
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moving an arm of the surgical device into a first position; receiving, from a detection device, first data indicating at least one of a global position and an orientation of an end effector tracker when the end effector tracker is disposed on a distal portion of the arm of the surgical device with the arm in the first position; receiving, from the detection device, second data indicating at least one of a global position and an orientation of a device tracker when the device tracker is coupled to a base of the surgical device; receiving third data indicating at least one of a position and an orientation of the end effector tracker relative to a reference point fixed in relation to the base when the end effector tracker is disposed on the distal portion of the arm of the surgical device with the arm in the first position; moving the arm of the surgical device into a second position; receiving, from a detection device, fourth data indicating at least one of a global position and an orientation of the end effector tracker when the end effector tracker is disposed on the distal portion of the arm of the surgical device with the arm in the second position; receiving fifth data indicating at least one of a position and an orientation of the end effector tracker relative to a reference point fixed in relation to the base when the end effector tracker is disposed on the distal portion of the arm of the surgical device with the arm in the second position; determining at least one of the position and the orientation of the device tracker relative to the reference point based at least on each of the first data, the second data, the third data, the fourth data, and the fifth data, while tracking the end effector tracker and the device tracker by the detection device; and determining if the device tracker has moved while receiving data based on the determination of the at least one of the position and the orientation of the device tracker relative to the reference point.
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Specification