System and method for the registration of an anatomical feature
First Claim
1. An apparatus for obtaining points of a surface of an anatomical feature comprising:
- a base adapted to be secured to an anatomical feature;
a spherical joint supported by the base, the spherical joint having a ball member rotatable in at least two rotational degrees of freedom relative to the base and having a center of rotation fixed relative to the base;
a distance-measurement device connected to the ball member such that a distance-measurement axis of the distance-measurement device passes through said center of rotation of the ball member, the distance-measurement device configured for providing a distance of any point of the surface intersecting the distance-measurement axis; and
at least one receptacle configured to receive an inertial sensor unit for determining an orientation of the distance-measurement device;
whereby a position of any point is obtained using said distance and an orientation of the distance-measurement device as connected to the ball member at a measurement of said any point.
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Accused Products
Abstract
A computer-assisted surgery (CAS) system for navigating a surface of an anatomical feature in a coordinate system comprises an apparatus for obtaining points of a surface of an anatomical feature including a base adapted to be secured to the anatomical feature, a spherical joint supported by the base, the spherical joint having a ball member rotatable in at least two rotational degrees of freedom relative to the base and having a center of rotation fixed relative to the base, a distance-measurement device connected to the ball member such that a distance-measurement axis of the distance-measurement device passes through said center of rotation of the ball member. An inertial sensor unit produces signals representative of the orientation of the distance-measurement device. A CAS processor receives the signal from the at least one inertial sensor unit and outputs orientation data relating at least an object relative to the surface of the anatomical feature using the model of the surface in the coordinate system and the signals from the at least one inertial sensor unit.
317 Citations
12 Claims
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1. An apparatus for obtaining points of a surface of an anatomical feature comprising:
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a base adapted to be secured to an anatomical feature; a spherical joint supported by the base, the spherical joint having a ball member rotatable in at least two rotational degrees of freedom relative to the base and having a center of rotation fixed relative to the base; a distance-measurement device connected to the ball member such that a distance-measurement axis of the distance-measurement device passes through said center of rotation of the ball member, the distance-measurement device configured for providing a distance of any point of the surface intersecting the distance-measurement axis; and at least one receptacle configured to receive an inertial sensor unit for determining an orientation of the distance-measurement device; whereby a position of any point is obtained using said distance and an orientation of the distance-measurement device as connected to the ball member at a measurement of said any point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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Specification