METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE

• US 20070270685A1
• Filed: 05/18/2007
• Published: 11/22/2007
• 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
• Granted Patent: US 9,492,237 B2
• Time in Patent Office: Days
• US Class Current: 600/424
• 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 method for calibrating a surgical device, comprising the steps of:

acquiring first data including at least one of a position and an orientation of a first object disposed on the surgical device at a first location;

acquiring second data including at least one of a position and an orientation of a second object 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 the second location; and

determining at least one of a position and 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.

2. The method of claim 1, further comprising the steps of:

moving the first object to a plurality of positions; and

acquiring at least one of the first data and the second data when the first object is in each of the plurality of positions.

3. The method of claim 2, further comprising the step of:

providing haptic guidance to guide a user in moving the first object to at least one of the plurality of positions.

4. The method of claim 3, wherein the haptic guidance comprises force feedback.

5. The method of claim 2, wherein the surgical device is configured such that the first object can be repeatably moved to at least one of the plurality of positions.

6. The method of claim 2, wherein the plurality of positions comprise at least vertices of a shape.

7. The method of claim 6, wherein the shape comprises at least one of a two dimensional and a three dimensional polytope.

8. The method of claim 1, further comprising the steps of:

fixing at least one of the position and the orientation of the first object relative to the first location; and

fixing at least one of the position and the orientation of the second object relative to the second location.

9. The method of claim 1, further comprising the step of:

alerting a user if at least one of the first object, the second object, the first location, and the second location moves during acquisition of at least one of the first data and the second data.

10. The method of claim 1, wherein the first object comprises a tracking element detectable by a detection device.

11. The method of claim 1, wherein the second object comprises at least one of a detection device and a tracking element detectable by a detection device.

12. The method of claim 1, wherein the step of acquiring the first data includes determining the at least one of the position and the orientation of the first object relative to a detection device.

13. The method of claim 1, wherein the step of acquiring the second data includes determining the at least one of the position and the orientation of the second object relative to a detection device.

14. The method of claim 1, further comprising the step of:

detecting the first object with the second object.

15. The method of claim 1, wherein the surgical device includes at least a portion of a serial mechanism, a parallel mechanism, or a hybrid mechanism and the step of determining the third data includes determining a configuration of the portion of the serial mechanism, the parallel mechanism, or the hybrid mechanism.

16. The method of claim 1, wherein the first location includes a locating feature and the step of acquiring the first data includes determining at least one of a position and an orientation of an axis of the locating feature.

17. The method of claim 16, wherein the locating feature comprises at least a portion of a surgical tool.

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

a first object configured to be disposed on the surgical device;

a second object configured to be disposed on the surgical device; and

a computing system programmed to;

determine 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;

determine 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;

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

determine at least one of a position and 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.

19. The system of claim 18, wherein the surgical device includes a surgical tool coupled to a distal portion of a serial mechanism, a parallel mechanism, or a hybrid mechanism and the first location includes at least one of the surgical tool and the distal portion.

20. The system of claim 19, wherein the second location includes a portion of the surgical device on which the serial mechanism, the parallel mechanism, or the hybrid mechanism is disposed.

21. The system of claim 18, wherein the first object includes a surface configured to abut a corresponding surface of the surgical device.

22. The system of claim 18, wherein the first object includes a fixation device for attachment to the surgical device and is configured such that the computing system can determine at least one of a point and an axis of the surgical device at the first location when the first object is disposed on the surgical device at the first location.

23. The system of claim 18, wherein the first object includes a tracking element detectable by a detection device and having a known geometric relationship to at least one of a point and an axis of the surgical device when the first object is disposed on the surgical device at the first location.

24. The system of claim 18, wherein the second object comprises at least one of a detection device and a tracking element detectable by a detection device.

25. The system of claim 18, wherein a position of the second object is adjustable relative to the second location.

26. The system of claim 18, 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 acquisition of at least one of the first data and the second data.