Automatic calibration system for computer-aided surgical instruments
First Claim
1. A calibration base to automatically calibrate any of a plurality of instruments having varying cross-sectional dimensions within a predetermined range for computer-aided surgery, each of the instrument, having a detectable portion, a working shaft and a tip at an end of the working shaft, said calibration base comprising;
- first detectable means secured thereto for detecting a position and an orientation thereof in space by sensor means connected to a position calculator; and
said calibration base adapted to receive and to releasably secure the working shaft of any of the instruments and providing a first abutting surface for the tip thereof in such a way that a position and orientation of the tip of any of the instruments secured therein is calculable when working shaft cross-section dimensions thereof are known;
whereby any of the instruments is calibrated when the position and orientation of the tip of the working shaft thereof is calculated.
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0 Petitions
Accused Products
Abstract
A system for automatic calibration of instruments (S) having varying cross-sectional dimensions within a predetermined range and having detectable elements (110, 112, 113, 114) thereon for computer-aided surgery, comprising a calibration base (C) having detectable elements (43, 44, 46, 48) secured thereto for detecting a position and an orientation thereof in space by sensors (204) connected to a position calculator (202). The calibration base is adapted to receive and to releasably secure a working shaft (100) of any of the instruments (S) and provides an abutting surface (14) for a tip (102) thereof in such a way that a position and orientation of the tip (102) of the instrument (S) secured therein is calculable when working shaft cross-section dimensions thereof are known. The position calculator (202) receives instrument data (214) and calibration data (218) from an operator through a user interface (206) and stores the instrument data (214) and calibration data (218) for subsequent calibrations.
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Citations
29 Claims
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1. A calibration base to automatically calibrate any of a plurality of instruments having varying cross-sectional dimensions within a predetermined range for computer-aided surgery, each of the instrument, having a detectable portion, a working shaft and a tip at an end of the working shaft, said calibration base comprising;
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first detectable means secured thereto for detecting a position and an orientation thereof in space by sensor means connected to a position calculator; and
said calibration base adapted to receive and to releasably secure the working shaft of any of the instruments and providing a first abutting surface for the tip thereof in such a way that a position and orientation of the tip of any of the instruments secured therein is calculable when working shaft cross-section dimensions thereof are known;
whereby any of the instruments is calibrated when the position and orientation of the tip of the working shaft thereof is calculated. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for calibrating any of a plurality of instruments having varying cross-sectional dimensions within a predetermined range with a position calculator connected to sensor means for computer-aided surgery, any one of the instruments having first detectable means being secured thereto and being releasably secured for calibration in a calibration base having second detectable means, said method comprising the steps of:
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(i) detecting a position and orientation in space of said first and second detectable means by said sensor means;
(ii) receiving instrument data; and
(iii) calculating a position and orientation of a tip of any one of the instruments secured in said calibration base with respect to said second detectable means as a function of said instrument data whereby the instrument is calibrated with respect to said first detectable means. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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21. A position calculator computer program product comprising code means recorded in a computer readable memory for executing a method for calibrating any of a plurality of instruments having varying cross-sectional dimensions within a predetermined range with a position calculator connected to sensor means for computer-aided surgery, any one of the instruments having first detectable means being secured thereto and being releasably secured for calibration in a calibration base having second detectable means, said method comprising the steps of:
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(i) detecting a position and orientation in space of said first and second detectable means by said sensor means;
(ii) receiving instrument data; and
(iii) calculating a position and orientation of a tip of any one of the instruments secured in said calibration base with respect to said second detectable means as a function of said instrument data whereby the instrument is calibrated with respect to said first detectable means.
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22. A System for automatic calibration of instruments for computer-aided surgery, comprising:
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a calibration base to automatically calibrate any of a plurality of instruments having varying cross-sectional dimensions within a predetermined range for computer-aided surgery, each of the instruments having a detectable portion, a working shaft and a tip at an end of the working shaft, said calibration base comprising first detectable means secured thereto for detecting a position and an orientation thereof in space by sensor means connected to a position calculator, and said calibration base adapted to receive and to releasably secure the working shaft of any of the instruments and providing a first abutting surface for the tip thereof in such a way that a position and orientation of the tip of any of the instruments secured therein is calculable when working shaft cross-section dimensions thereof are known, whereby any of the instruments is calibrated when the position and orientation of the tip of the working shaft thereof is calculated;
said detectable portion on the instruments comprising second detectable means for space positioning of the instruments, said second detectable means being adapted to be secured to any of the instruments;
said sensor means for detecting a position and orientation in space of said first and second detectable means; and
a position calculator connected to said sensor means for calculating a position and orientation of the tip of the working shaft of any of the instruments secured in said calibration base with respect to the first detectable means according to a method comprising the steps of (i) detecting a position and orientation in space of said first and second detectable means by said sensor means, (ii) receiving instrument data, and (iii) calculating a position and orientation of a tip of any one of the instruments secured in said calibration base with respect to said first detectable means as a function of said instrument data;
whereby any of the instruments is calibrated with respect to said second detectable means when the position and orientation of the tip of the working shaft thereof is calculated. - View Dependent Claims (23, 24)
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25. A method for calibrating instruments with a position calculator connected to sensor mean for computer-aided surgery, the instruments having detectable means being secured thereto, said method comprising the steps of:
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(i) detecting a position and orientation in space of said detectable means by the sensor means;
(ii) calculating a position and orientation of a predetermined portion of any one of the instruments with respect to said detectable means; and
(iii) comparing the calculated position and orientation with a stored reference position and orientation of the predetermined portion of a same instrument as calculated in a previous calibration of the same instrument, and prompting an operator to verify the instrument if the calculated position and orientation is outside tolerances of the position and orientation of the previous calibration of the same instrument and waiting for an operator signal before repeating the steps (i), (ii) and (iii), whereby the instrument calibration is validated if the calculated position and orientation is within tolerances of the position and, orientation of the previous calibration of the same instrument. - View Dependent Claims (26, 27, 28)
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29. A position calculator computer program product comprising code means recorded in a computer readable memory for executing a method for calibrating instruments with a position calculator connected to sensor means for computer-aided surgery, the instruments having detectable means being secured thereto, said method comprising the steps of:
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(i) detecting a position and orientation in space of said detectable means by the sensor means, (ii) calculating a position and orientation of a predetermined portion of any of one of the instruments with respect to said detectable means; and
(iii) comparing the calculated position and orientation with a stored reference position and orientation of the predetermined portion of a same instrument as calculated in a previous calibration of the name instrument, and prompting an operator to verify the instrument if the calculated position and orientation is outside tolerances of the position and orientation of the previous calibration of the name instrument and waiting for an operator signal before repeating the steps (i), (ii) and (iii);
whereby the instrument calibration is validated if the calculated position and orientation is within tolerances of the position and orientation of the previous calibration of the same instrument.
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Specification