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 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.
28 Citations
20 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 point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for modelling a surface of an anatomical feature in computer-assisted surgery (CAS) in a coordinate system, comprising:
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obtaining a distance between a reference position and any point of the surface of the anatomical feature; determining, using at least one inertial sensor unit and one or more processors of a CAS system, an orientation of an axis passing through the reference position and said any point of the surface of the anatomical feature; calculating a position of said any point using the orientation of the axis and the distance for said any point; repeating the obtaining the distance, the determining the orientation and the calculating a position for a plurality of points on the anatomical feature, with the reference position being fixed throughout the repeating; generating, using the at least one inertial sensor unit and one or more processors of the CAS system, the model of the surface in the coordinate system using at least the position of the plurality of points; and outputting, using the at least one inertial sensor unit and one or more processors of the CAS system, 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. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A CAS processor for modelling a surface of an anatomical feature in computer-assisted surgery (CAS) in a coordinate system, comprising:
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a distance module for obtaining a distance between a reference position and a plurality of points of the surface of the anatomical feature; an orientation module for determining, using signals from at least one inertial sensor unit, an orientation of an axis passing through the reference position and the plurality of points of the surface of the anatomical feature; a position calculator module for calculating a position of said any point using the orientation of the axis and the distance for said any point, the reference position being common to each of the plurality of points; a model generating module for generating and outputting, using the signals from the at least one inertial sensor unit, the model of the surface in the coordinate system using at least the position of the plurality of points; and a navigation module for producing and outputting, using the signals from the at least one inertial sensor unit, 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. - View Dependent Claims (20)
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Specification