Navigation system including optical and non-optical sensors

• US 9,008,757 B2
• Filed: 09/24/2013
• Issued: 04/14/2015
• Est. Priority Date: 09/26/2012
• Status: Active Grant

• Current Assignee: Stryker Corporation
• Original Assignee: Stryker Corporation
• Inventors: Wu, Chunwu
• Primary Examiner(s): Jung, Unsu
• Assistant Examiner(s): Lamprecht, Joel
• Application Number:
  US14/035,207
• Publication Number:
  US 20140088410A1
• Time in Patent Office: 567 Days
• Field of Search: 600/407, 600/424, 600/476, 600/473
• US Class Current: 600/426
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2053 Tracking an applied voltage gradient
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2090/0818 Redundant systems, e.g. using two independent measuring systems and comparing the signals
• CPC Class Codes: A61B 2090/3945 Active visible markers, e.g. light emitting diodes
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• 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 34/30 Surgical robots
• CPC Class Codes: A61B 5/064 using markers A61B5/062 takes precedence
• CPC Class Codes: A61B 90/39 Markers, e.g. radio-opaque or breast lesions markers
• CPC Class Codes: Y10S 901/47 Optical

Abstract

Systems and methods that utilize optical sensors and non-optical sensors to determine the position and/or orientation of objects. A navigation system includes an optical sensor for receiving optical signals from markers and a non-optical sensor, such as a gyroscope, for generating non-optical data. A navigation computer determines positions and/or orientations of objects based on optical and non-optical data.

Claims

1. A navigation system for tracking an object, said navigation system comprising:

a plurality of optical sensors;

a tracker for mounting to the object, said tracker including three markers and a non-optical sensor, wherein said plurality of optical sensors are configured to receive optical signals sequentially from said markers and said non-optical sensor is configured to generate non-optical signals; and

a computing system including at least one processor configured to;

determine a position of a first of said markers at a first time based on a first optical signal from said first marker;

determine positions of a second and third of said markers at said first time based on said first optical signal and a non-optical signal from said non-optical sensor; and

correlate said determined positions of said first, second, and third markers to the object to track a position of the object.

2. A navigation system as set forth in claim 1 wherein said non-optical sensor is disposed in a known position relative to each of said markers.

3. A navigation system as set forth in claim 1 wherein said markers are passive reflectors.

4. A navigation system as set forth in claim 1 wherein said markers are active emitters configured to sequentially emit optical signals such that said first marker emits said first optical signal at said first time and prior to said second and third markers emitting optical signals.

5. A navigation system as set forth in claim 4 wherein said active emitters are light emitting diodes.

6. A navigation system as set forth in claim 1 wherein said plurality of optical sensors are housed in a camera unit.

7. A navigation system as set forth in claim 6 wherein said plurality of optical sensors are further defined as first, second, and third optical sensors.

8. A navigation system as set forth in claim 7 wherein said first, second, and third optical sensors are one-dimensional charge coupled devices.

9. A navigation system as set forth in claim 1 including a second tracker having three markers and a second non-optical sensor.

10. A navigation system as set forth in claim 9 wherein said first and second trackers are configured for mounting to bone.

11. A navigation system as set forth in claim 1 wherein said at least one processor is configured to calculate said positions of said second and third markers by calculating a first velocity of said first marker based on said first optical signal and by calculating velocities of said second and third markers based on said first velocity and said non-optical signal in said first time.

12. A navigation system as set forth in claim 1 wherein said at least one processor is configured to correlate said determined positions of said first, second, and third markers to the object to track a position and orientation of the object.

13. A navigation system as set forth in claim 12 including a probe adapted to select landmarks on a patient'"'"'s anatomy, said probe having a plurality of markers for transmitting signals to said plurality of optical sensors during selection of the landmarks.

14. A navigation system as set forth in claim 1 wherein said at least one processor is configured to measure initial positions of said first, second, and third markers at an initial time to establish initial position data.

15. A navigation system as set forth in claim 14 wherein said at least one processor is configured to measure said initial positions of said first, second, and third markers to establish said initial position data by sequentially firing said first, second, and third markers to transmit light signals to said plurality of optical sensors.

16. A navigation system as set forth in claim 14 wherein said at least one processor is configured to calculate velocities of said first, second, and third markers while establishing said initial position data and is configured to compare said calculated velocities to a predetermined threshold.

17. A navigation system as set forth in claim 14 wherein said at least one processor is configured to compare said measured initial positions of said first, second, and third markers at said initial time to a model of said first, second, and third markers stored in said computing system.

18. A navigation system as set forth in claim 17 wherein said at least one processor is configured to match said first, second, and third markers to said model and provide a best-fit to said model.

19. A navigation system as set forth in claim 18 wherein said at least one processor is configured to match one or more virtual markers to said model to provide said best-fit to said model.

20. A navigation system as set forth in claim 17 wherein said at least one processor is configured to generate a transformation matrix from a tracker coordinate system to a localizer coordinate system.

21. A navigation system as set forth in claim 1 wherein said at least one processor is configured to calculate a linear velocity vector of said first marker.

22. A navigation system as set forth in claim 21 wherein said at least one processor is configured to measure an angular velocity of said tracker at said first time.

23. A navigation system as set forth in claim 22 wherein said at least one processor is configured to calculate a relative velocity vector of an origin of a tracker coordinate system based on said measured angular velocity.

24. A navigation system as set forth in claim 23 wherein said at least one processor is configured to calculate relative velocity vectors for said second and third markers based on said measured angular velocity.

25. A navigation system as set forth in claim 24 wherein said at least one processor is configured to calculate a velocity vector of an origin of said tracker coordinate system based on said calculated linear velocity vector of said first marker and said calculated relative velocity vector of said origin.

26. A navigation system as set forth in claim 25 wherein said at least one processor is configured to calculate velocity vectors of said second and third markers at said first time based on said calculated velocity vector of said origin and said calculated relative velocity vectors of said second and third markers.

27. A navigation system as set forth in claim 26 wherein said at least one processor is configured to calculate said positions of said second and third markers at said first time based on said calculated velocity vectors of said second and third markers at said first time.

28. A navigation system as set forth in claim 27 wherein said at least one processor is configured to calculate relative velocity vectors for one or more virtual markers.

29. A navigation system as set forth in claim 28 wherein said at least one processor is configured to calculate velocity vectors of said one or more virtual markers at said first time based on said calculated velocity vector of said origin and said calculated relative velocity vectors of said one or more virtual markers.

30. A navigation system as set forth in claim 29 wherein said at least one processor is configured to calculate a position of said one or more virtual markers at said first time based on said calculated velocity vectors of said one or more virtual markers at said first time.

31. A navigation system as set forth in claim 1 wherein said first time includes a first period of time.