METHOD FOR GENERATING POSITION DATA OF AN INSTRUMENT

• US 20120136626A1
• Filed: 05/17/2010
• Published: 05/31/2012
• Est. Priority Date: 05/18/2009
• Status: Active Grant

• Current Assignee: Fiagon GmbH (Medtronic Plc)
• Original Assignee: Dirk Mucha
• Inventors: Mucha, Dirk
• Granted Patent: US 10,398,512 B2
• Time in Patent Office: Days
• US Class Current: 702/150
• CPC Class Codes: A61B 2034/2051 Electromagnetic tracking systems
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2068 using pointers, e.g. pointers having reference marks for determining coordinates of body points
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/0811 for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
• 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 5/062 using magnetic field
• CPC Class Codes: A61B 8/12 in body cavities or body tracts, e.g. by using catheters catheters per se A61M25/00
• CPC Class Codes: A61M 25/0105 Steering means as part of the catheter or advancing means; Markers for positioning systems for detection of markers A61B

Abstract

A method for detecting deformations and errors and/or for generating position data of an instrument (1) with at least one first section (2) with at least one first sensor (4) and at least one second section (3) with at least one second sensor (5), wherein the method encompasses metrologically determining the position of the first and second sensor (4, 5). The method encompasses mathematically determining the position of the second sensor (5) with regard to the first section (2), preferably in at least two ways. Further, an apparatus for executing the method is specified.

Claims

1-27. -27. (canceled)

28. A method for generating position data and/or for detecting deformations of a medical instrument including a first section with a first sensor and a second section with a second sensor, the method including determining the position of the first and second sensor metrologically, the method comprising:

filing data reflecting allowable positions of the second sensor with regard to the first section;

mathematically determining the position of the second sensor with regard to the first section;

comparing the mathematically determined position of the second sensor with the data on file;

determining an absolute difference between the mathematically determined position of the second sensor and the data on file; and

setting an upper limit value for the absolute difference;

the mathematical determination of the position of the second sensor with regard to the first section taking place in at least two ways, wherein with one of the two ways, the metrologically determined first and second sensors recorded during use are not used.

29. The method as recited in claim 28 wherein a tip of the instrument is a reference point for generating position data of the first section of the instrument.

30. The method as recited in claim 28 wherein spatial allocation of at least one of the first and second sections and at least one of the first and second sensors are described as homogenous transformation matrices.

31. The method as recited claim 28 wherein the position data are output to an output device.

32. The method as recited in claim 31 wherein the position data outside the limit values are detected to be interfering signals and not output.

33. The method as recited in claim 31 wherein the position data outside the limit values are detected to be interfering signals, at first corrected and subsequently output.

34. An apparatus for executing the method steps as recited in claim 28, the apparatus comprising the medical instrument.

35. The apparatus as recited in claim 34 further comprising a processing unit for processing the measuring signals and as interface to an output unit, with a storage device for filing the data, and with a position measuring system.

36. The apparatus as recited in claim 34 wherein the first and second sections of the medical instrument are each designed to be rigid.

37. The apparatus as recited in claim 34 wherein the first and second sections of the medical instrument are designed to be flexible.

38. The apparatus as recited in claim 34 wherein the first and second sections of the medical instrument are connected by a bending element.

39. The apparatus as recited in claim 34 wherein the second section of the medical instrument is designed to be spatially limited.

40. The apparatus as recited in claim 34 wherein the first and second sections of the instrument are firmly connected.

41. A computer program product with a program code which is configured for executing the method as recited in claim 28 when the computer program runs on a computer.

42. A computer program comprising instructions which are configured for executing the method as recited in claim 28 when the computer program runs on a computer.