Method and system for frameless tool calibration

• US 5,921,992 A
• Filed: 04/11/1997
• Issued: 07/13/1999
• Est. Priority Date: 04/11/1997
• Status: Expired due to Fees

• Current Assignee: Integra Radionics, Inc. (Integra LifeSciences Holdings Corporation)
• Original Assignee: Radionics, Inc. (Integra LifeSciences Holdings Corporation)
• Inventors: Mauge, Christophe P., Costales, James B., Bath, James S., Cosman, Eric R.
• Primary Examiner(s): Buiz, Michael
• Assistant Examiner(s): Woo, Julian W.
• Application Number:
  US08/840,198
• Time in Patent Office: 823 Days
• Field of Search: 606/130, 606/1
• US Class Current: 606/130
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• 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 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• 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 90/36 Image-producing devices or illumination devices not otherwise provided for

Abstract

The intraoperative calibration of an arbitrary surgical instrument relative to a surgical navigation digitizing system is achieved by a calibration guide. The calibration guide is established in position and orientation relative to the digitizing system coordinate system. The surgical instrument is aligned to the calibration guide during calibration to establish its probe and end orientation in the digitizer coordinates. The instrument carries a marker structure which is trackable in the digitizer coordinates to enable tracking by rigid-body transformation of the instruments probe and end position after calibration in the calibration guide.

Claims

1. A system for calibrating the position and direction of a surgical instrument in the coordinate system of a camera system that tracks the surgical instrument in an operative field comprising:

a. a camera system, having a camera coordinate system, adapted to track objects in the operative field having light markers attached to them;

b. a surgical instrument having a probe direction and a probe end;

c. a light marker system having a light marker coordinate system, the light marker system being adapted to attach to the surgical instrument and can be tracked by the camera system to determine the light marker coordinate system relative to the camera coordinate system;

d. a calibration guide that is adapted to align the probe direction and probe end in a known position relative to said camera coordinate system;

whereby after alignment of said probe direction and probe end in the calibration guide, said probe direction and said probe end can be tracked by said camera system relative to said camera coordinate system.

2. The system of claim 1 wherein said calibration guide comprises a fixturing system for said surgical instrument and a calibration light marker system that is tracked by said camera system which is in a known orientation to said fixturing system.

3. The system of claim 1 wherein said calibration guide comprises a fixturing system for said surgical instrument, and a calibrated probe having a known probe direction and known probe tip that are tracked by said camera system in said camera coordinate system, so that when said known probe is aligned in said fixturing system, then the orientation and position of said fixturing system is determinable in said camera coordinate system.

4. A process for interoperative instrument calibraton for use with a camera system adapted to track surgical instruments comprising the steps of:

a. placing a camera system to view an operative field, the camera system having a camera coordinate system, and said camera system being adapted to detect the position of light elements within the operative field to provide data representation of the position of the light objects in the camera coordinate system;

b. attaching a light marker system to a surgical instrument, the light marker system having a marker coordinate system, so that when said light marker system is tracked by said camera system the marker coordinate system is determined relative to said camera coordinate system, and the surgical instrument having a probe direction and a probe tip;

c. establishing a calibration guide within said surgical field having a fixture to align the probe direction and the probe tip in a determined position relative to said camera coordinate system while determining said marker coordinate system position in said camera coordinate system, thereby to establish the interoperative calibration of said probe direction and said probe tip in said camera coordinate for different positions of said surgical instrument by tracking said marker coordinate system;

d. tracking said probe direction and said probe tip of said surgical instrument within said operative field by tracking said marker coordinate system by said camera system.

5. A system for calibrating the position and direction of a surgical instrument in the coordinate system of a digitizing tracker that tracks the surgical instrument in an operative field comprising:

a. a digitizing tracker, having a tracker coordinate system, adapted to track objects in the operative field having tracking light markers attached to them;

b. a surgical instrument having a probe direction and a probe end;

c. a tracking marker system having a marker coordinate system, said tracking marker system being adapted to attach to the surgical instrument and can be tracked by the digitizing tracker to determine the marker coordinate system relative to the tracker coordinate system;

d. a calibration guide that is adapted to align the probe direction and probe end in a known position relative to said tracker coordinate system;

whereby after alignment of said probe direction and probe end in the calibration guide, said probe direction and said probe end can be tracked by said digitizing tracker relative to said tracker coordinate system.

6. A process for interoperative instrument calibraton for use with a digitizing tracker adapted to track surgical instruments comprising the steps of:

a. placing a digitizing tracker to view an operative field, the digitizing tracker having a tracker coordinate system, and detecting the position of light elements within the operative field to provide data representation of the position of the light elements in the tracker coordinate system;

b. attaching a tracking marker system to a surgical instrument, the tracking marker system having a marker coordinate system and being tracked by said digitizing tracker to determine a marker coordinate system relative to said tracker coordinate system, and the surgical instrument having a probe direction and a probe tip;

c. establishing a calibration guide within said surgical field having a fixture to align the probe direction and the probe tip in a determined position relative to said tracker coordinate system while determining said marker coordinate system position in said tracker coordinate system, thereby to establish the interoperative calibration of said probe direction and said probe tip in said tracker coordinate for different position of said surgical instrument by tracking said marker coordinate system;

d. tracking said probe direction and said probe tip of said surgical instrument within said operative field by tracking said marker coordinate system by said digitizing tracker.