Method for generating position data of an instrument

• US 10,398,512 B2
• Filed: 05/17/2010
• Issued: 09/03/2019
• Est. Priority Date: 05/18/2009
• Status: Active Grant

• Current Assignee: Fiagon GmbH (Medtronic Plc)
• Original Assignee: Dirk Mucha
• Inventors: Mucha, Dirk
• Primary Examiner(s): Cwern, Jonathan
• Application Number:
  US13/321,087
• Publication Number:
  US 20120136626A1
• Time in Patent Office: 3,396 Days
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B

Abstract

A method for detecting deformations and errors and/or for generating position data of an instrument (1) with at least one first section (2) with at least one first sensor (4) and at least one second section (3) with at least one second sensor (5), wherein the method encompasses metrologically determining the position of the first and second sensor (4, 5). The method encompasses mathematically determining the position of the second sensor (5) with regard to the first section (2), preferably in at least two ways. Further, an apparatus for executing the method is specified.

Claims

1. A method for generating and displaying position data and/or for detecting deformations of a medical instrument including a first section with a first sensor and a second section with a second sensor, the first sensor being an electromagnetic or an optical sensor and the second sensor being an electromagnetic or an optical sensor, the method including determining a position of the first and second sensor metrologically, the method comprising:

filing data reflecting allowable positions of the second sensor during possible applications of the instrument, the allowable positions of the second sensor being calculated relative to the first section, the allowable positions being a mathematical description of positions the second sensor may assume relative to the first section due to a capability of deformation of the instrument;

mathematically determining the position of the second sensor relative to the first section from the metrologically determined position of the first and second sensor;

comparing the mathematically determined position of the second sensor with the data on file;

determining an absolute difference between the mathematically determined position of the second sensor with regard to the first section and the data on file to define mathematically determined position data of the second sensor;

setting an upper limit value for the absolute difference such that values above the upper limit value indicate positions the instrument is incapable of being deformed into during use;

identifying the mathematically determined position data of the second sensor outside the upper limit value as data influenced by measurement error or interference; and

displaying, by an output device, the mathematically determined position of the second sensor as a function of the identified data influenced by measurement error or interference, the displaying including one of;

displaying the mathematically determined position of the second sensor by the excluding of the data influenced by measurement error or interference, or

first correcting the data influenced by measurement error or interference, and then displaying the mathematically determined position of the second sensor with the corrected data.

2. The method as recited in claim 1 wherein a tip of the instrument is a reference point for generating position data of the first section of the instrument.

3. The method as recited in claim 1 wherein spatial allocation of at least one of the first and second sections and at least one of the first and second sensors are described as homogenous transformation matrices.

4. The method as recited in claim 1 further comprising pointing out the existence of invisible objects in the spatial measurement data range or area influencing the metrological determination of the position of the sensors.

5. A computer program product, disposed on a non-transitory computer readable media, for generating and displaying position data and/or for detecting deformations of a medical instrument including a first section with a first sensor and a second section with a second sensor by determining a position of the first and second sensor metrologically, the first sensor being an electromagnetic or an optical sensor and the second sensor being an electromagnetic or an optical sensor, the computer program product including a program code which is configured for executing the following steps when the computer program runs on a computer:

filing data reflecting allowable positions of the second sensor during possible applications of the instrument, the allowable positions of the second sensor being calculated relative to the first section, the allowable positions being a mathematical description of positions the second sensor may assume relative to the first section due to a capability of deformation of the instrument;

mathematically determining the position of the second sensor relative to the first section from the metrologically determined position of the first and second sensor;

comparing the mathematically determined position of the second sensor with the data on file;

determining an absolute difference between the mathematically determined position of the second sensor with regard to the first section and the data on file to define mathematically determined position data of the second sensor;

setting an upper limit value for the absolute difference such that values above the upper limit value indicate positions the instrument is incapable of being deformed into during use;

identifying the mathematically determined position data of the second sensor outside the upper limit value as data influenced by measurement error or interference; and

displaying, by an output device, the mathematically determined position of the second sensor as a function of the identified data influenced by measurement error or interference, the displaying including one of;

displaying the mathematically determined position of the second sensor by the excluding of the data influenced by measurement error or interference, or

first correcting the data influenced by measurement error or interference, and then displaying the mathematically determined position of the second sensor with the corrected data.