Method and apparatus for controlling a haptic device

• US 10,350,012 B2
• Filed: 10/07/2016
• Issued: 07/16/2019
• Est. Priority Date: 05/19/2006
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Kang, Hyosig, Moses, Dennis, Quaid, Arthur
• Primary Examiner(s): Nghiem, Michael P
• Application Number:
  US15/288,769
• Publication Number:
  US 20170020613A1
• Time in Patent Office: 1,012 Days
• Field of Search: 702150
• CPC Class Codes: A61B 17/1764 for the knee
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/00712 simulating mathematical properties, e.g. for testing of positioning in the isocentre or focus
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2034/207 Divots for calibration
• CPC Class Codes: A61B 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety

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.

Claims

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.

2. The method of claim 1, further comprising the steps of:

moving the end effector tracker to a plurality of positions, including the first position, the second position, and any additional positions; and

acquiring data when the end effector tracker is in each of the plurality of positions.

3. The method of claim 2, further comprising the step of:

providing haptic guidance to guide a user in moving the end effector tracker to at least one of the plurality of positions.

4. The method of claim 3, wherein the haptic guidance comprises force feedback.

5. The method of claim 2, wherein the surgical device is configured such that the end effector tracker can be repeatably moved to at least one of the plurality of positions.

6. The method of claim 2, wherein the plurality of positions comprise at least vertices of a shape.

7. The method of claim 6, wherein the shape comprises at least one of a two dimensional and a three dimensional polytope.

8. The method of claim 1, further comprising the steps of:

fixing at least one of the global position and the orientation of the end effector tracker relative to the distal portion of the arm; and

fixing at least one of the global position and the orientation of the device tracker relative to the base of the surgical device.

9. The method of claim 1, wherein the end effector tracker comprises a tracking element detectable by the detection device.

10. The method of claim 1, wherein the device tracker comprises at least one of the detection device and a tracking element detectable by the detection device.

11. The method of claim 1, wherein the step of receiving the first data includes determining the at least one of the position and the orientation of the end effector tracker relative to the detection device.

12. The method of claim 1, wherein the step of receiving the second data includes determining the at least one of the position and the orientation of the device tracker relative to the detection device.

13. The method of claim 1, further comprising the step of:

detecting the end effector tracker with the detection device.

14. The method of claim 1, wherein the arm of the surgical device includes at least a portion of a serial mechanism, a parallel mechanism, or a hybrid mechanism.

15. The method of claim 1, wherein the distal portion of the arm of the surgical device includes a locating feature and the step of acquiring the first data includes determining at least one of a position and an orientation of an axis of the locating feature.

16. The method of claim 15, wherein the locating feature comprises at least a portion of a surgical tool.

17. 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

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.