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Head registration using a personalized gripper

  • US 10,631,935 B2
  • Filed: 10/25/2016
  • Issued: 04/28/2020
  • Est. Priority Date: 10/25/2016
  • Status: Active Grant
First Claim
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1. A method, comprising:

  • (a) acquiring an anatomical image of at least part of a head of a specific patient, wherein the anatomical image captures at least a selected location in the head;

    (b) fitting a personalized gripper, which is shaped based on the anatomical image to personally fit one or more teeth of the specific patient at the selected location, the personalized gripper comprising;

    (i) a body portion,(ii) a sensor placement position located on the body portion, wherein the sensor placement position is associated, in an electronic memory of a surgical system, with a first fixed coordinate offset describing the sensor placement position relative to the one or more teeth when the personalized gripper is fit to the one or more teeth, and(iii) a first position sensor of a position-tracking system positioned at the sensor placement position, wherein the position-tracking system comprises a magnetic position-tracking system, and wherein the first position sensor comprises a magnetic position sensor;

    (c) registering the anatomical image with a coordinate system of the position-tracking system, by identifying the selected location in the anatomical image and measuring a first position of the first position sensor using the position-tracking system, wherein registering comprises;

    (i) generating an electromagnetic field around the head of the patient, and(ii) receiving signals from the first position sensor in response to the generated electromagnetic field;

    (d) calibrating the position-tracking system for a second position sensor using a registration groove on an external wall of the body portion of the personalized gripper, wherein;

    (i) the registration groove is adapted to couple with a portion of a medical device and statically position the medical device relative to the first position sensor,(ii) the registration groove is positioned on the external wall based on a second fixed coordinate offset describing the registration groove position relative to the first position sensor, and(iii) calibration of the position tracking system for the second position sensor is based on the second fixed coordinate offset; and

    (e) navigating to one or more locations in the head of the specific patient the medical device that comprises the second position sensor of the position-tracking system, by displaying a second position of the medical device in the head on the registered anatomical image, wherein the second position sensor comprises a second magnetic position sensor, wherein navigating comprises;

    (i) receiving signals from the first position sensor, in response to the generated electromagnetic field, to indicate positioning of the head of the patient,(ii) receiving signals from the second position sensor, in response to the generated electromagnetic field, to indicate positioning of the medical device, and(iii) displaying the second position of the medical device based upon the indicated positioning of the head of the patient and the indicated positioning of the medical device.

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