Method and apparatus for controlling a haptic device

• US 9,492,237 B2
• Filed: 05/18/2007
• Issued: 11/15/2016
• Est. Priority Date: 05/19/2006
• Status: Active Grant

• Current Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Original Assignee: MAKO Surgical Corporation (Stryker Corporation)
• Inventors: Kang, Hyosig, Moses, Dennis, Quaid, Arthur
• Primary Examiner(s): NGHIEM, MICHAEL P
• Application Number:
  US11/750,815
• Publication Number:
  US 20070270685A1
• Time in Patent Office: 3,469 Days
• Field of Search: 702/85, 702/94, 702/95, 702/97, 702150-155, 606/45, 606/80, 606/130, 600/300, 600/423, 600/424
• US Class Current: 1/1
• CPC Class Codes: A61B 17/1764 for the knee
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00694 with means correcting for movement of or for synchronisation with the body
• CPC Class Codes: A61B 2017/00712 simulating mathematical properties, e.g. for testing of positioning in the isocentre or focus
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/108 Computer aided selection or customisation of medical implants or cutting guides
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• 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 2034/2072 Reference field transducer attached to an instrument or patient
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• 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 34/25 : User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 : Surgical robots
• CPC Class Codes: A61B 34/71 : Manipulators operated by drive cable mechanisms
• CPC Class Codes: A61B 34/76 : Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/03 : Automatic limiting or abutting means, e.g. for safety

Abstract

A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.

Claims

1. A system for calibrating a surgical device, comprising:

an arm tracker configured to be tracked by a detection device and to provide data indicating at least one of a global position and orientation of the arm tracker, wherein the arm tracker is coupled to a distal portion of an arm of the surgical device;

a device tracker configured to be tracked by the detection device and to provide data indicating at least one of a global position and orientation of the device tracker, wherein the device tracker is coupled to a base of the surgical device; and

a computing system programmed to;

perform a registration calibration of the surgical device, the registration calibration comprising;

receiving, from the detection device, first data indicating the at least one of a global position and an orientation of the arm tracker when the arm tracker is disposed on the distal portion of the arm of the surgical device;

receiving, from the detection device, second data indicating the at least one of a global position and an orientation of the device tracker when the device tracker is coupled to the base of the surgical device;

receiving third data indicating at least one of a position and an orientation of the arm tracker relative to a reference point fixed in relation to the base;

determining, while tracking the arm tracker and the device tracker by the detection device, at least one of the position and the orientation of the device tracker relative to the reference point based at least on each of the first data, the second data, and the third data; and

alert a user if at least one of the arm tracker, the device tracker, the distal portion of the arm, and the reference point moves during the registration calibration while receiving at least one of the first data and the second data.

2. The system of claim 1, wherein the surgical device is configured to support a surgical tool coupled to the distal portion of the arm, and wherein the arm comprises an articulated linkage comprising at least one of a serial mechanism, a parallel mechanism, or a hybrid mechanism.

3. The system of claim 2, wherein a proximal portion of the arm is coupled to the base of the surgical device.

4. The system of claim 1, wherein the arm tracker includes a surface configured to abut a corresponding surface of the distal portion of the arm of the surgical device.

5. The system of claim 1, wherein the arm tracker includes a fixation device for attachment to the distal portion of the arm of the surgical device, and is configured such that the computing system can determine at least one of a point and an axis of the distal portion of the arm of the surgical device when the arm tracker is disposed on the distal portion of the arm of the surgical device.

6. The system of claim 5, wherein the fixation device is releasable, and the arm tracker is configured to be removed from the surgical device prior to a surgical procedure.

7. The system of claim 1, wherein the arm tracker comprises a first tracking element detectable by a detection device, and wherein the arm tracker has an as-designed geometric relationship with respect to at least one of a point and an axis of the surgical device when coupled to the distal portion of the arm of the surgical device.

8. The system of claim 7, wherein the device tracker comprises a second tracking element detectable by the detection device.

9. The system of claim 8, wherein the first tracking element comprises a first array of markers and the second tracking element comprises a second array of markers.

10. The system of claim 9, wherein the detection device comprises an optical tracking system configured to detect positions of the first and second arrays of markers.

11. The system of claim 10, wherein the first data is associated with the first array of markers and the second data is associated with the second array of markers.

12. The system of claim 11, wherein the first and second data comprise multiple data points, and wherein the computing system is further programmed to average the multiple data points to reduce effects of sensor noise.

13. The system of claim 12, wherein at least a portion of the third data is associated with readings provided by position sensors configured to detect a configuration of the arm.

14. The system of claim 13, wherein the position sensors comprise joint encoders configured to detect relationships between segments of the arm.

15. The system of claim 1, wherein a position of the device tracker is adjustable relative to the reference point.

16. The system of claim 15, wherein the device tracker is coupled to the base by way of an adjustable linkage configured to allow the device tracker to move with respect to the base and further configured to lock the device tracker in a fixed position with respect to the base.

17. The system of claim 1, wherein the computing system is further programmed to transform at least a portion of the first and second data from a first coordinate frame to a second coordinate frame.

18. A system for calibrating a surgical device, comprising:

a first object configured to be tracked by a detection device and to provide data indicating at least one of a global position and orientation of the first object wherein the first object is disposed on the surgical device;

a second object configured to be tracked by the detection device and to provide data indicating at least one of a global position and orientation of the second object wherein the second object is disposed on the surgical device; and

a computing system programmed to;

perform a registration calibration of the surgical device, the registration calibration comprising;

determining, using data from the detection device, first data including at least one of a position and an orientation of the first object when the first object is disposed on the surgical device at a first location;

determining, using data from the detection device, second data including at least one of a position and an orientation of the second object when the second object is disposed on the surgical device at a second location;

determining third data including at least one of a position and an orientation of the first object relative to a reference location; and

determining, while tracking the first object and the second object by the detection device, at least one of a position and an orientation of the second object relative to the reference location based at least on each of the first data, the second data, and the third data,

wherein the computing system is programmed to alert a user if at least one of the first object, the second object, the first location, and the second location moves during the registration calibration while determining at least one of the first data and the second data.