Tool calibrator and tracker system

• US 7,043,961 B2
• Filed: 01/30/2002
• Issued: 05/16/2006
• Est. Priority Date: 01/30/2001
• Status: Expired due to Term

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: Z-KAT, Inc.
• Inventors: Arata, Louis, Pandey, Rajesh, Larocque, Brandon
• Primary Examiner(s): Williams, Hezron
• Assistant Examiner(s): Rogers, David A.
• Application Number:
  US10/062,842
• Publication Number:
  US 20030209096A1
• Time in Patent Office: 1,567 Days
• Field of Search: 73/17.5, 73/17.8, 73/17.9, 73/18.1, 73/18.8, 600/117, 600/424
• US Class Current: 73/1.81
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• 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

Abstract

A standard medical or surgical tool'"'"'s axis is located by attaching to the tool a plurality of a location indicating elements or markers having a known geometric or spatial relationship, and placing the tool in a tool calibrator that supports the tool in a manner that allows tools of different diameters to be rotated while maintaining the tool'"'"'s axis in a fixed or stable orientation. As the tool is rotated, a marker locating system tracks the positions of the markers on the tool and then extrapolates or determines the axis of rotation with respect to the markers clamped to the tool. The tool calibrator has a second set of position indicating elements or markers with fixed geometric or spatial relationship with one another and with respect to a stop, against which the end or tip of the tool is placed.

Claims

1. A method of calibrating a medical or surgical tool to a tracking system, comprising:

attaching to the tool a plurality of position indicating elements having a predetermined spatial relationship with one another;

placing the tool onto a support frame of a tool calibrator adapted for permitting rotation of the tool about an axis;

detecting with a tracking system the positions of the plurality of position indicating elements while the tool is being rotated; and

determining a position of the axis of the tool relative to the plurality of position indicating elements based on the detected positions of the plurality of position indicating elements while the tool is being rotated.

2. The method, as set forth in claim 1, wherein the tool is rotated first in one direction and then in an opposite direction.

3. The method, as set forth in claim 1, wherein the support includes a tool stop, wherein placing the tool onto the support frame includes placing a tip of the tool adjacent the tool stop, and wherein the method further includes determining a position of the tip of the tool relative to the plurality of position indicating elements based on a known location of the tool stop.

4. The method, as set forth in claim 3, wherein the known location of the tool stop is derived from determining with the tracking system positions of a second plurality of position indicating elements having a known spatial relationship to the tool stop.

5. The method, as set forth in claim 1, wherein the support frame includes a groove formed in a surface of the tool calibrator.

6. The method, as set forth in claim 5, wherein the groove is substantially “

V”

shaped.

7. The method, as set forth in claim 6, wherein placing the tool onto the support frame comprises sliding the tool along the groove and under a self-actuating ball spring clamp operable to retain the tool snuggly in the groove.

8. A system for calibrating an orientation of an axis and a location of a tip of a medical or surgical tool to position locating elements affixed to the tool, the system comprising:

a support surface;

a groove disposed in the support surface for rotatably receiving the tool;

a stop member disposed in the groove to retain the tip of the tool;

a first plurality of position indicating elements disposed on the support surface, the position indicating elements having fixed and known spatial relationships with one another and to the stop member;

a tool tracker including a second plurality of position indicating elements fixed in spatial relationships with one another, the tool tracker operable to be secured to the tool; and

a computer programmed to determine an axis of rotation of the tool when the tool tracker is secured to the tool based on locations of the second plurality of position indicating elements as the tool is rotated in the groove.

9. The system, as set forth in claim 8, wherein the support surface is planar.

10. The system, as set forth in claim 8, wherein the first plurality of position indicating elements comprise at least three energy reflectors secured to the support surface.

11. The system, as set forth in claim 8, wherein the support surface contains a tool holder operable to retain the tool on the support surface.

12. The system, as set forth in claim 11, wherein the tool holder includes a self-actuating ball spring clamp.

13. A method of registering a tool to an image guided system, comprising:

attaching to the tool a first plurality of position indicating elements having a predetermined spatial relationship with one another;

placing the tool onto a support of a tool calibrator operable to permit rotation of the tool about a known axis, the tool calibrator having a second plurality of position indicating elements secured thereto;

rotating the tool on the support;

detecting positions of the first plurality of position indicating elements and of the second plurality of position indicating elements while the tool is being rotated; and

registering a tool tip and a tool longitudinal axis spatial location relative to the detected locations of the first and second plurality of position indicating elements.

14. The method, as set forth in claim 13, wherein placing the tool comprises sliding the tool along a groove and under a self-actuating ball spring clamp operable to retain the tool snuggly in the groove.

15. The method, as set forth in claim 13, wherein placing the tool comprises sliding the tool along a groove until the tool tip comes to rest against a tool stop.

16. A system for calibrating an orientation of an axis and a location of a tip of a medical or surgical tool to position locating elements affixed to the tool, the system comprising:

a support surface;

a groove disposed in the support surface for rotatably receiving the tool;

a stop member disposed in the groove to retain the tip of the tool;

a plurality of position indicating elements disposed on the support surface, the position indicating elements having fixed and known spatial relationships with one another and to the tool stop member; and

an image guided surgery system programmed to determine an axis of rotation of the tool based on locations of the position locating elements affixed to the tool as the tool is rotated in the groove.