Calibration of an instrument

• US 6,497,134 B1
• Filed: 03/15/2000
• Issued: 12/24/2002
• Est. Priority Date: 03/15/2000
• Status: Expired due to Fees

• Current Assignee: Image Guided Technologies, Inc. (Stryker Corporation)
• Original Assignee: Image Guided Technologies, Inc. (Stryker Corporation)
• Inventors: Paylor, Jesse Dean, Faul, Ivan
• Primary Examiner(s): Milano, Michael J.
• Assistant Examiner(s): DAVIS, DANIEL J
• Application Number:
  US09/525,895
• Time in Patent Office: 1,014 Days
• Field of Search: 606/130, 606/1, 600/417, 600/426, 600/424, 600/427, 600/429, 73/17.9, 73/18.1, 73/17.5
• US Class Current: 73/1.81
• 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 2034/207 Divots for calibration
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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
• CPC Class Codes: G01D 18/008 with calibration coefficients stored in memory

Abstract

A system for calibrating an error between the location of a feature of an object as determined by indirect calculation compared to as determined by physical measurement in order to be able to use this determined error to correct the location of the feature as determined by calculation in actual use in the field. This error is found by calculating the position and orientation of the object, having energy emitters disposed thereon, in a plurality of orientations and positions relative to a reference frame, but with the feature in a substantially constant position relative to the reference frame; calculating the locations of the feature of the object from these calculated positions and orientations; averaging these calculated locations; determining the location of the feature by physical measurement thereof in relation to the physical locations of the emitters; and comparing the calculated average location with the physically measured loacation to arrive at the error.

Claims

1. An apparatus adapted to calibrate the location of a feature of an object relative to the locations of plural energy emitters disposed on that object and spaced from the feature, where the apparatus comprises an assembly of:

A. a reference frame, comprising plural energy emitters;

B. a pivotable gimbal having an origin that is adapted to be in substantially fixed spatial relationship to said reference frame regardless of pivoting of said gimbal, wherein said gimbal is adapted to receive said object being calibrated such that the feature, whose location is being determined, resides at said origin;

C. means to maintain the reference frame and the origin of the gimbal in substantially constant spatial relationship regardless of the pivoting of the gimbal;

D. said object being calibrated comprising plural energy emitters and at least one feature in fixed structural relationship to and remote from said emitters;

F. at least one energy sensor spaced from said emitters;

G. means to radiate energy from said emitters to said sensor(s);

H. computing means adapted to calculate the locations of said object energy emitters relative to the reference frame;

I. computing means adapted to calculate the locations of said feature relative to said reference frame; and

J. computing means adapted to compare the location of said feature as calculated in I with the location of said feature as physically measured on said object and to thereby determine an error between the calculated and measured location, respectively, of the feature.

2. A method of calibrating the location of a feature of an object comprising:

A. disposing a reference frame, having plural energy emitters disposed thereon, in spatial relationship to a pivotable gimbal having an accessible origin, wherein said origin is in known spatial relationship to said reference frame regardless of the pivoting of the gimbal;

B. disposing an object, comprising a geometric feature and plural energy emitters, in operative relationship to said gimbal such that said feature is disposed at said origin;

C. radiating energy from said emitters to at least one energy sensor;

D. from said energy radiation, calculating the locations of at least some of the emitters on said object and on said reference frame, wherein the number of emitter locations determined is sufficient to calculate a spatial relationship between said object and said reference frame;

E. from the locations of emitters determined in step D, calculating the location of the feature;

F. physically measuring the location of the feature as a geometric function of the actual locations of the emitters on the object; and

G. comparing the calculated and measured locations of the feature to generate an error value.