Source: http://www.google.com/patents/US7950299?dq=%22Meaning-based+information+organization+and+retrieval%22
Timestamp: 2016-07-30 11:53:46
Document Index: 748683150

Matched Legal Cases: ['art 7', 'art 7', 'art 7', 'art 7', 'art 7', 'art 7']

Patent US7950299 - Adjusting and guiding system for tools - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inPatentsThe invention relates to an adjusting and guiding system for guiding tools (1) in relation to a workpiece (2), said system comprising the following characteristics: a navigation system (3) used to identify reference points, a first reference point unit (4) that can be fixed to the workpiece (2), a first...http://www.google.com/patents/US7950299?utm_source=gb-gplus-sharePatent US7950299 - Adjusting and guiding system for toolsAdvanced Patent SearchPublication numberUS7950299 B2Publication typeGrantApplication numberUS 12/224,233PCT numberPCT/DE2007/000320Publication dateMay 31, 2011Filing dateFeb 21, 2007Priority dateFeb 21, 2006Fee statusPaidAlso published asUS20090069945, WO2007095917A2, WO2007095917A3Publication number12224233, 224233, PCT/2007/320, PCT/DE/2007/000320, PCT/DE/2007/00320, PCT/DE/7/000320, PCT/DE/7/00320, PCT/DE2007/000320, PCT/DE2007/00320, PCT/DE2007000320, PCT/DE200700320, PCT/DE7/000320, PCT/DE7/00320, PCT/DE7000320, PCT/DE700320, US 7950299 B2, US 7950299B2, US-B2-7950299, US7950299 B2, US7950299B2InventorsRainer BurgkartOriginal AssigneeRainer BurgkartExport CitationBiBTeX, EndNote, RefManPatent Citations (7), Non-Patent Citations (1), Referenced by (4), Classifications (17), Legal Events (1) External Links: USPTO, USPTO Assignment, EspacenetAdjusting and guiding system for tools
US 7950299 B2Abstract
The invention relates to an adjusting and guiding system for guiding tools (1) in relation to a workpiece (2), said system comprising the following characteristics: a navigation system (3) used to identify reference points, a first reference point unit (4) that can be fixed to the workpiece (2), a first template receiving element (5) that can be fixed to the workpiece (2), a second reference point unit (6) that can be fixed to the first template receiving element (5), and a template. Said template comprises a coupling part (7 a) adapted to the first template receiving element, a tool guiding element (7 b) adapted to the tool (2) to be guided, a lockable coupling device (7 c) connecting the coupling part (7 a) to the tool guiding element (7 b) and enabling the tool guiding element (7 b) to be oriented in relation to the coupling piece (7 a), and a template adjusting device (8). Said template adjusting device is characterized by a second template receiving element (8 a) connected to the template adjustment device (8) in a geometric relation therewith, the first and the second template receiving elements being identical, a tool guiding coupling (8 b) for the defined connection of the tool guiding element (7 b) of the template to the template adjustment device (8), and an adjusting device (8 c) comprising adjusting elements that can be displaced in a defined manner and are used for the defined orientation of the tool guiding coupling (8 b), said adjusting elements (8 c) being provided with measuring scales.
a template comprising a coupling piece which fits the first template receiving element, a mechanical tool guiding element which fits the tool to be guided, and an arrestable coupling device which joins the coupling piece to the mechanical tool guiding element and which makes possible selective spatial alignment of the tool guiding element with respect to the coupling piece; and
a template adjustment device comprising a body and a second template receiving element which is connected to the body in a predetermined geometric relationship thereto, wherein the first and second template receiving elements are identical to one another, a tool guiding coupling for spatially defined joining of the mechanical tool guiding element of the template to the template adjustment device, and an adjusting device with adjusting elements that can be displaced in a defined manner for spatially defined adjustment of alignment of the tool guiding coupling relative to the second template receiving element, wherein measuring scales are provided on the adjusting elements for measuring the defined adjustment of alignment.
5. The adjusting and guiding system of claim 1, wherein the coupling piece is releasably attachable to the first template receiving element and the second template receiving device in alternating succession.
6. The adjusting and guiding system of claim 5, wherein the mechanical tool guiding element is attachable to the tool guiding coupling when the coupling piece is attached to the second template receiving device.
7. The adjusting and guiding system of claim 6, wherein the arrestable coupling device comprises joints for allowing adjustment of spatial alignment of the mechanical tool guiding element with respect to the coupling piece and arresting elements for releasably locking the joints.
8. The adjusting and guiding system of claim 1, wherein the measuring scales include longitudinal scales for measuring shifting of the adjusting elements and angle scales for measuring rotations of the adjusting elements.
9. An adjusting and guiding system for mechanical guidance of a surgical tool with respect to a work piece, the system comprising:
a first template receiving element adapted to be attached to the work piece in a fixed position thereto, and a reference point unit in a fixed position to the first template receiving element;
a navigation system adapted to recognize and track a position of the reference point unit with respect to the position of the work piece and to identify a planned trajectory of the surgical tool into the work piece relative to the first template receiving element;
a template for guiding the surgical tool, the template comprising a tool guiding element connected to a coupling part by an arrestable coupling device, wherein the coupling part is releasably lockable to the first template receiving element, wherein the tool guiding element provides a defined guide surface for guiding the surgical tool, and wherein the arrestable coupling device allows lockable adjustment of spatial alignment of the tool guiding element with respect to the coupling part; and
a template adjustment device for adjusting the template into a spatial alignment defined by the navigation system to meet the planned trajectory, the template adjustment device comprising a second template receiving element, a tool guide coupling, and an adjusting device, wherein the second template receiving element is releasably attachable to the coupling part, the tool guide coupling is releasably attachable to the tool guiding element, and the adjusting device provides for controlled adjustment of spatial alignment of the coupling part and the tool guiding element when attached to the respective second template receiving element and tool guide coupling.
10. The adjusting and guiding system of claim 9, wherein the adjusting device comprises measuring scales for measuring adjustment of the relative spatial alignment between the second template receiving element and the tool guide coupling.
11. The adjusting and guiding system of claim 10, wherein the measuring scales comprise a longitudinal scale for measuring shifting and an angle scale for measuring rotation.
12. The adjusting and guiding system of claim 9, wherein the coupling part attaches alternatingly to each of the first template receiving element and the second template receiving element in the same relative orientation thereto.
13. The adjusting and guiding system of claim 12, wherein the first template receiving element is substantially identical to the second template receiving element.
14. The adjusting and guiding system of claim 9, wherein the navigation system comprises a plurality of cameras and the reference point unit comprise reference markers that are optically visible to the cameras.
15. The adjusting and guiding system of claim 9, wherein the tool guiding element comprises a drill guide.
16. The adjusting and guiding system of claim 9, wherein the tool guiding element comprises a saw guide having a slit-like recess.
17. The adjusting and guiding system of claim 9, further comprising a second reference point unit adapted to be connected directly to the work piece separate from the first template receiving element.
18. The adjusting and guiding system of claim 9, wherein the arrestable coupling device comprises one or more joints and one or more arresting elements for setting the joints in a selected position.
19. The adjusting and guiding system of claim 9, wherein the geometrical relationship between the second template receiving element and the tool guide coupling are known and measured by the measuring scales.
20. The adjusting and guiding system of claim 9, wherein the reference point unit is attached to the first template receiving element. Description
This task is solved with an adjusting and guiding system according to claim 1. The adjusting and guiding system according to the invention has several components including, in one embodiment, a navigation system, a first reference point unit, a first template receiving element, a second reference point unit, a template, and a template adjustment device. In another embodiment of the invention, an adjusting and guiding system for mechanical guidance of a surgical tool with respect to a work piece includes a first template receiving element adapted to be attached to the work piece, and a reference point unit, a navigation system adapted to recognize and track a position of the reference point unit with respect to the position of the work piece, a template for guiding the surgical tool, and an adjustment device for adjusting the template into a spatial alignment defined by the navigation system. In addition, advantageous embodiments of the invention are objects of the subclaims.
FIG. 2 aV shows an enlarged image of FIG. 2 a FIG. 2 b shows a part of the invention from FIG. 2 a in the mounted state.
A system according to one embodiment includes a navigation system 3 with which reference points in the room can be recognized without contact. A typical embodiment of a navigation system operates according to the optical principle, that is, an optical system, consisting of two cameras 3 a, 3 b, detects reference points and assigns these reference points spatially to one another, which is converted with a computer with the corresponding software. This process is called tracking in the state of the art. The reference points are mostly combined into a reference point unit, whereby a rod-shaped carrier carries at least three reference points that have a predetermined distance to one another. The reference points are material spheres made of a material that is recognized by the cameras when the reference points are illuminated with a certain light source, mostly infrared.
A first reference point unit 4 is attached to the work piece. Then images of the work piece are produced from different perspectives. These can be for example x-ray recordings. With the fixing of the photographic recordings on the work piece and on the related photographic recordings, for example, x-ray recordings from different directions, a spatial assignment between the previously-determined, that is, known, work piece geometry and the known geometry of the reference point unit is established and stored in the computer of the navigation system. When the navigation system recognizes the reference point unit thus at the same time the spatial position of the work piece is known.
It is clear to the person skilled in the art that the reference point unit 4 does not necessarily have to be attached to the work piece itself. It is sufficient if a fixed relationship is established between the work piece and the reference point unit. Such a fixed relationship is produced for example when the work piece is clamped rigidly in a vice and the reference point unit is connected solidly to the vice.
This principle can also be transferred to a medical application, that is, when, for example, a leg on which a surgery is to be performed is sufficiently fixed then the first reference point unit 4 can also be secured next to the leg, as long as it is guaranteed that the position of the leg, that is of the bone, is not changed with respect to this first reference point unit.
Now a device is secured on the work piece, which will be called the first template receiving element 5 below. This template receiving element carries the second reference point unit 6.
Furthermore, a device is used, which will be called template 7 below and which has the following characteristics: a coupling part 7 a, which fits with positive locking and unequivocally to the first template receiving element. The coupling part is thus a body section of the template.
The template 7 also has a mechanical tool guiding element 7 b, which fits the tool to be guided. For example, when a drill is to be guided, the tool guiding element has a sleeve with a bore that corresponds to the drill diameter. When a saw is to be guided, the tool guiding element 7 b is designed so that the saw blade is guided, that is, can be applied, at least by one side on a line.
The coupling part 7 a and the tool guiding element 7 b are connected to one another with a coupling device 7 c. The coupling device 7 c has joints so that a predetermined spatial alignment of the tool guiding element 7 b with respect to the coupling part 7 a is made possible. The joints can be set.
In order to obtain an alignment of the tool guiding element 7 b with regard to the coupling part 7 a, a template adjustment device 8 is used which has the following characteristics: a second template receiving element 8 a, which is identical to the first template receiving element 5, that is, the coupling part 7 a of the template fits both the first as well as the second template receiving element. The second template receiving element 8 a is connected rigidly to the template adjustment device 8 and thus it is in a predetermined geometric relationship to it.
Furthermore, a tool guiding coupling 8 b is provided on the template adjustment device 8 which makes it possible to establish a spatially defined connection of the tool guiding element 7 b of the template with the template adjustment device.
The tool guiding coupling 8 b is attached to an adjusting device 8 c, which is also arranged in a fixed manner on the template adjustment device. This adjustment device has at least as many degrees of freedom as required. Thus, with the displaceable adjusting elements 8 c 1, 8 c 2, 8 c 3, and 8 c 4, a spatially defined alignment to the tool guiding coupling is made possible.
Measuring scales are set up on the adjusting elements 8 c 1-8 c 4 to obtain defined settability, that is, longitudinal scales 9 c 1 and 9 c 2 are provided for shifting in the coordinate system and angle scales 9 c 3 and 9 c 4 are provided for rotations in the coordinate system.
As determined, the adjusting and guiding system is used as follows: the goal is for the mechanical guidance with the tool of the template to be in the correct spatial position for guiding the tool 1 when the template 7 is set on the first template receiving element 5. For this purpose, the coupling part 7 a of the template is to be brought into a predetermined spatial position with respect to the tool guiding element 7 b, which is possible with the aid of the coupling device 7 c that can be set and arrested. The spatial position that corresponds to the desired action of the tool 1 is set with the adjusting elements 8 c 1-8 c 4. For this purpose, scales 9 c 1-9 c 4 with numerical values are arranged on the adjusting elements 8 c 1-8 c 4 so that predetermined length and angle settings can be ensured. The numerical values are calculated with consideration of the geometry of the template 7 and of the template adjustment device 8 in the sense of a 3D transformation.
After the template 7 is set and arrested, it is removed from the template adjustment device 8 and set on the first template receiving element 5 and secured there. Now the operator can produce a bore in the work piece with his tool 1, for example a drill, which he pushes through the tool guiding element 7 b, which has the originally planned spatial position.
After the establishment of the target location T, the operator also establishes the route of access 10 to this target in the sense of a target axis, whereby the arrow in FIG. 1 represents the virtual planning of the direction of penetration of the axis-related tool and the tip of the arrow shows the endpoint of the tip of the tool, that is, the point that the drill must reach.
Now the adjustment of the bone template 7 in a template receiving element 8 a is performed. Using a deposited computing algorithm that takes into consideration the geometry of the adjusting device 8, a maximum of 6 numerical values (3 translation values and 3 rotation values), corresponding to the plan are now calculated and outputted.
With the aid of these values, the mechanical tool guiding element 7 b on the tool guidance coupling 8 b is exactly and unequivocally aligned spatially on the adjusting elements 8 c of the adjusting device 8, whereby the arresting elements 7 d of the template 7 are released. After that the templates are fixed by means of the arresting elements 7 d and are removed from the template adjustment device 8 and placed on the template receiving element 5. It is clear to the person skilled in the art that the adjusting elements 8 c can also be arranged on the second template receiving element 8 a or some of these can be arranged thus. The only essential thing is that within the template adjustment device 8 the geometrical relationships are known and are adjustable. The second reference point unit 6 is no longer needed and can be removed. Now the operator can set the drill by using the tool guiding element 7 b and introduce the bore. It is additionally clear to the expert in the field that the tool guiding element 7 b can also be a slit-like recess with which a saw cut can be introduced into the work piece with a predetermined spatial alignment and depth.
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