Method and apparatus for calibrating non-linear instruments
First Claim
Patent Images
1. A system to navigate an instrument relative to a portion of a patient'"'"'s anatomy, comprising:
- an instrument including an engaging end, a working end, and a shaft extending between said engaging end and said working end;
a member selectively engageable to said engaging end such that said member is operable to be engaged and disengaged from said engaging end;
a first tracking sensor interconnected with said instrument; and
a tracking system operable to track said first tracking sensor;
wherein said tracking system is operable to determine an orientation of said member relative to said first tracking sensor when said member is engaged to said engaging end;
wherein said engaging end defines a first axis that is non-coaxial with a second axis defined by said working end.
1 Assignment
0 Petitions
Accused Products
Abstract
A method and apparatus for performing a calibration and navigation of a member. The member may be calibrated relative to a selected portion, such as a sensor on an instrument. The calibrated member may then be navigated with a selected system. The calibration technique can be infinitely flexible and not rigid or designed for specific components. Moreover, the calibration may occur when the member is interconnected to an end of the instrument that is non-co-axial with another end of the instrument.
236 Citations
61 Claims
-
1. A system to navigate an instrument relative to a portion of a patient'"'"'s anatomy, comprising:
-
an instrument including an engaging end, a working end, and a shaft extending between said engaging end and said working end;
a member selectively engageable to said engaging end such that said member is operable to be engaged and disengaged from said engaging end;
a first tracking sensor interconnected with said instrument; and
a tracking system operable to track said first tracking sensor;
wherein said tracking system is operable to determine an orientation of said member relative to said first tracking sensor when said member is engaged to said engaging end;
wherein said engaging end defines a first axis that is non-coaxial with a second axis defined by said working end. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
-
-
21. A method of determining a position of a first member relative to an instrument, comprising:
-
interconnecting a first tracking sensor with the instrument;
interconnecting the first member with the instrument;
determining at least three points on a portion of said member;
determining a plane of the first member based at least in part upon the determined three points; and
determining a vector of the first member through the plane. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44)
-
-
45. A method of navigating a procedure relative to an anatomy of a patient, comprising:
-
interconnecting a first tracking sensor with the instrument;
interconnecting the member with the instrument;
tracking a probe to determine at least three points defined by the member to define a plane;
tracking a probe to determine a fourth point to define a vector through the plane relative to the member;
navigating the member relative to the anatomy based at least in part on the plane and the vector. - View Dependent Claims (46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61)
-
Specification