Source: https://patents.google.com/patent/US7166114B2/en
Timestamp: 2018-10-20 18:23:08
Document Index: 704485378

Matched Legal Cases: ['art 62', 'art 62', 'art 60', 'art 62', 'art 62', 'art 62']

US7166114B2 - Method and system for calibrating a surgical tool and adapter thereof - Google Patents
Method and system for calibrating a surgical tool and adapter thereof Download PDF
US7166114B2
US7166114B2 US10246599 US24659902A US7166114B2 US 7166114 B2 US7166114 B2 US 7166114B2 US 10246599 US10246599 US 10246599 US 24659902 A US24659902 A US 24659902A US 7166114 B2 US7166114 B2 US 7166114B2
US10246599
US20040054489A1 (en )
Amir Sarvestini
A method for easily calibrating both the position of the tip of a surgical tool and the orientation of that tool includes attaching a tracking device capable of communication with the surgical navigation system to the surgical tool using an adapter, where the adapter has a known relation between the tracking device and the axis of the surgical tool. The method then performs a calibration process to calculate the position of the tip of the surgical tool and the position of the tracking device and orientation data for the surgical tool from the known relation between the tracking device and the axis of the surgical tool and from the tool tip position. Lastly, the method stores the position of the tool tip for the surgical tool and the orientation data within memory of the surgical navigation system so the position and the orientation of the surgical tool can be tracked by the surgical navigation system.
This invention generally relates to calibrating surgical tools for use with a surgical navigation system. More particularly this invention relates to the calibration of a combination of a universal tracking device and the surgical tool so that the position and orientation of the surgical tool can be determined by the surgical navigation system.
The use of image guided surgical navigation systems for assisting surgeons in performing delicate surgery has become more common. Typical surgical navigation systems utilize specially developed tools that include built in tracking devices so that the surgeon can see the position of the surgical tool overlaid on a monitor that shows a preoperative image or an intraoperative image. The preoperative images are typically prepared using well-known preoperative scanning techniques, such as MRI or CT scans. The intraoperative images can be prepared using flouroscope, low level x-ray and similar devices. The tracking devices typically include multiple optical emitters, such as LED's, that can be detected by the surgical navigation system. From the position of the emitters, the surgical navigation system can determine the position and/or orientation of the surgical tool.
The present invention is directed to an improved method of calibrating both the position and orientation of a surgical tool for use with a surgical navigation system. This method includes the steps of attaching a tracking device capable of communicating with the surgical navigation system to the surgical tool using an adapter, wherein the surgical tool has both a tool axis and a tool tip and the adapter has a known relation between the tracking device and the tool axis. The method further includes the step of touching the tool tip to a calibration device capable of communicating with the surgical navigation system and capable of determining the position of the tool tip relative to the position of the tracking device. The method further includes the step of calculating the position of the tool tip and then calculating orientation data for the surgical tool from the known relation between the tracking device and the tool axis. Lastly, the method includes the step of storing the position of the tool tip and the orientation data for the surgical tool within memory of the surgical navigation system so that when the surgical tool is used with the surgical navigation system, the position and the orientation of the surgical tool can be tracked by the surgical navigation system.
FIG. 1 is a schematic view of the surgical navigation system;
FIG. 6 is a sectional view of the adapter of FIG. 2 taken generally along the line 6—6;
FIG. 12 is a sectional view the adapter of FIG. 8 taken generally along the lines 11—11;
FIGS. 1 and 1 a are a schematic view and block diagram of a surgical navigation system 50 adapted to track surgical tool 52 having a universal tracking device 54 associated therewith using an adapter 56. The surgical navigation system 50 includes a computer 58, which can be any type of high-speed personal computer having a CPU 58 a, a memory unit 58 b, and a storage unit 58 c, such as a laptop computer, as shown, or a desktop computer (not shown). If the desktop computer is used, it can be housed inside a cart 62. Mounted on the cart 62 is a monitor 60, which is attached to a video output of the computer 58. Also associated with the computer 58 are a mouse 64 or another suitable input pointing device and a keyboard 66. The surgical navigation system 50 includes a camera 68 which is comprised of three separate CCD cameras 70, 72 and 74, which cameras are adapted to detect infrared signals (IR) generated by the universal tracking device 54. The camera 68 is mounted on cart 60 by a camera arm 76. While the camera 68 is shown mounted in association with the cart 62 in FIG. 1, it is not necessary that the camera actually be physically mounted on or attached to cart 62. The camera 68 can be mounted in any stationary position such that the camera 68 has a good line of sight to the operating field in the operating room. For instance, the camera 68 can be mounted on a wall of the operating room (not shown) or can be mounted on the operating room light (not shown). Camera arm 76 also can include cable 86 from the camera 68 to a localizer 88 which is located within cart 62. The localizer 88 cooperates with the camera 68 to identify the locations of the LED's 84 on the universal tracking device 54 and any other tracking devices that may be within the field of view of the camera 68. The CCD cameras 70, 72, and 74 contain their own calibration information and transmit the position data from the LED's 84 to the localizer 88. The localizer 88 then converts the raw position data into position and orientation data using techniques that are to those of skill in the art. The localizer 88 communicates the position and orientation data to the computer 58 through cable 90. The camera 68 also includes two transceivers 92 and 94 capable of communicating with the universal tracking device 54 using techniques that are well-known to those of skill in the art. The transceivers 92 and 94 are directly connected to computer 58 through a separate circuit in cable 86. Also shown is a reference tracking device 78 attached to operating room table 80 by a tracker mount 82. While it is preferred that the reference tracking device 78 is stationary, the reference tracking device 78 could be mounted to a patient (not shown) or could be a second hand held tracking device. Both the reference tracking device 78 and the universal tracking device 54 have multiple LED's 84 that emit light in the infrared region that can be detected by CCD cameras 70, 72 and 74. A more detailed description of surgical navigation system 50 is contained in U.S. patent application Ser. No. 09/764,609 filed Oct. 21, 2001, the disclosure of which is hereby incorporated by reference.
With reference to FIGS. 2–7, the adapter 56 includes a body 102 having a docking pin bridge 104. The body 102 has an exterior surface 106 and an interior surface 108. An opening 112 is defined by the interior surface 108 and passes through the body 102. The opening 112 has an axis 110, as shown in FIG. 2. The axis 110 must have a known relation to the interior surface 108 of the adapter 56.
Multiple docking pins 114 are mounted on docking pin bridge 104. In the embodiment as shown in FIGS. 2–7, four docking pins 114 are shown. The multiple docking pins 114 are provided to enable a surgeon to mount the universal tracking device 54 on the most appropriate docking pin 114 so that during the surgical procedure to be performed the LED's 84 in the universal tracking device 54 can readily maintain a line of sight to the camera 68. While four docking pins 114 are shown in the embodiment of FIGS. 2–7, any suitable number of docking pins can be included. The docking pins 114 include a base 115, which is firmly secured to docking bridge 104 in such a manner that the docking pin 114 does not move once it has been secured to docking bridge 104. The docking pin 114 also includes two pins 116 and an undercut 118, which interact with the docking surface of the universal tracking device 54 as will be discussed in more detail hereafter to hold the universal tracking device 54 firmly to the adapter 56.
As shown in FIGS. 8–13, a second embodiment of the adapter 56 is shown. In describing FIGS. 8–13 similar structure will be described using the same reference number as above. An adapter 150 includes the docking pin bridge 104 and has the exterior surface 106 and the interior surface 108. As shown in FIG. 8, an axis 168 passes through an opening 152 defined by the interior surface 108. The opening 152 in the adapter 150 is larger than the opening 112 of the adapter 56. The reason for this larger opening is to interact with an attachment device 154 mounted on a surgical tool 156. On the exterior surface 106 of the adapter 150 are a series of detents 158. Detents 158 interact with a series of balls 160 held within an interior surface 162 of the attachment device 154. These balls 160 are held in place by a locking ring 164 that encircles the exterior of the attachment device 154. The attachment device 154 also includes a smooth protrusion 166 that is shaped so that it closely interfits with the opening 152 of the adapter 150. The shape of the smooth protrusion 166 is such that the axis 168 of the opening 152 is in identity with a tool axis 170 of the surgical tool 156. In addition, a series of grooves 172 are shown on the exterior surface 106 of the adapter 150. These grooves are arranged around the end of the adapter 150 opposite the docking pin bridge 104. These grooves 172 interact with one or more pins 174 in a back surface 176 of the attachment device 154. The grooves 172 and the pins 174 keep the adapter 150 from rotating about the axis 168. Either or both of grooves 172 or pins 174 can be omitted if it is desired that the adapter 156 be able to rotate freely about the axis 168.
The present invention is useful to quickly and easily calibrate both the position and orientation of a particular surgical tool without the need for complicated calibration devices that must be separately sterilized to be used within a surgical environment.
US10246599 2002-09-18 2002-09-18 Method and system for calibrating a surgical tool and adapter thereof Active 2023-05-07 US7166114B2 (en)
US10246599 US7166114B2 (en) 2002-09-18 2002-09-18 Method and system for calibrating a surgical tool and adapter thereof
DE2003140434 DE10340434B4 (en) 2002-09-18 2003-09-02 Methods and systems for calibrating a surgical tool and adapter for it
US11646960 US20070173790A1 (en) 2002-09-18 2006-12-28 Method and system for calibrating a surgical tool and adapter therefor
US11646994 US20070175489A1 (en) 2002-09-18 2006-12-28 Method and system for calibrating a surgical tool and adapter therefor
DE200710059690 DE102007059690A1 (en) 2002-09-18 2007-12-12 Adapter for attaching tracking device to surgical tool, has docking pins that locks optical tracking device at specified position at exterior surface, such that axis of opening and axis of surgical tool are identical
DE200710059691 DE102007059691A1 (en) 2002-09-18 2007-12-12 Adapter for surgical navigation tracking systems
US11646960 Division US20070173790A1 (en) 2002-09-18 2006-12-28 Method and system for calibrating a surgical tool and adapter therefor
US11646994 Division US20070175489A1 (en) 2002-09-18 2006-12-28 Method and system for calibrating a surgical tool and adapter therefor
US20040054489A1 true US20040054489A1 (en) 2004-03-18
US7166114B2 true US7166114B2 (en) 2007-01-23
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US10246599 Active 2023-05-07 US7166114B2 (en) 2002-09-18 2002-09-18 Method and system for calibrating a surgical tool and adapter thereof
US11646960 Abandoned US20070173790A1 (en) 2002-09-18 2006-12-28 Method and system for calibrating a surgical tool and adapter therefor
US11646994 Abandoned US20070175489A1 (en) 2002-09-18 2006-12-28 Method and system for calibrating a surgical tool and adapter therefor
US (3) US7166114B2 (en)
DE (3) DE10340434B4 (en)
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Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:DE LA BERRERA, JOSE LUIS MOCTEZUMA;SARVESTANI, AMIR;REEL/FRAME:013605/0862