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Patent US6083163 - Surgical navigation system and method using audio feedback - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsA computer based system and method is disclosed for positional guidance in real-time surgical applications using audio feedback. The invention is based on translating the 5 spatial parameters of a surgical instrument or device, such as its position and velocity with respect to a given coordinate system,...http://www.google.com/patents/US6083163?utm_source=gb-gplus-sharePatent US6083163 - Surgical navigation system and method using audio feedbackAdvanced Patent SearchPublication numberUS6083163 APublication typeGrantApplication numberUS 09/009,845Publication dateJul 4, 2000Filing dateJan 20, 1998Priority dateJan 21, 1997Fee statusLapsedAlso published asCA2278368A1, WO1998031280A1Publication number009845, 09009845, US 6083163 A, US 6083163A, US-A-6083163, US6083163 A, US6083163AInventorsChristian M. Wegner, Daniel B. KarronOriginal AssigneeComputer Aided Surgery, Inc.Export CitationBiBTeX, EndNote, RefManPatent Citations (14), Non-Patent Citations (60), Referenced by (42), Classifications (15), Legal Events (7) External Links: USPTO, USPTO Assignment, EspacenetSurgical navigation system and method using audio feedback
US 6083163 AAbstract
1. A computer based system for positioning an article relative to a surgical target path using audio feedback, comprising:a memory storing a surgical target path expressed in terms of two or more spatial coordinates along a three dimensional surface representing a model of an anatomical object, the values of said spatial coordinates being indicative of a desired trajectory of said article along the surgical target path; one or more sensors tracking the actual trajectory of the article during surgical execution; a comparator providing on output differences between the desired trajectory and the actual trajectory of the article along said two or more spatial coordinates; a processor translating the provided differences along said two or more spatial coordinates into corresponding two or more coordinates of an audio space; and audio means for playback of said two or more coordinates of the audio space to assist in positioning the article relative to the surgical target path. 2. The system of claim 1 wherein said processor translates the provided differences into sound grains of predetermined duration.
______________________________________Algorithm 1: Discrete Error Function______________________________________ 1  loop 2    serial-- write( polhemus, request-- datapoint 3    update.position = serial-- read( polhemus 4    midi-- plan = which-- plan( midi, update.position.x 5    if( update.position.yz == midi�lan.position.yz 6      serial write( midi, midi-- plan.note-- on 7    else 8      serial write( midi, midi-- plan.note-- off ) 9    endif10      x-- function.note on = which-- note( update.position.x,   midi-- plan, trajectory-- len.x )11      serial write( midi, x function.note on12      aiff-- plan = which-- plan( aiff, update.position.x )13      if( update.position.yz == aiff-- plan.position.yz )14        play-- aiff ( aiff-- plan.aiff, aiff-- plan.volum     e )15      endif16  endloop______________________________________
______________________________________Algorithm 2: Beat Interference______________________________________ 1  ref-- frequency = a 2  loop 3  cursor = get-- instrument-- position() 4  plan = find nearest-- point( target-- path, cursor ) 5  if( cursor != plan ) 6      oscillator-- a &lt;&lt; ref-- frequency 7      oscillator-- b &lt;&lt; ref-- frequency - ( plan - cursor 8    else 9      oscillator-- a &lt;&lt; ref-- frequency10      oscillator-- b &lt;&lt; ref-- frequency11    endif12  endloop______________________________________
______________________________________Algorithm 3______________________________________1   loop2     cursor = get-- instrument-- position()3     plan = find-- nearest-- point( target-- path, cursor )4     spatial-- location = plan - cursor5     dsp &lt;&lt; convolve( error-- signal, spatial location )6   endloop______________________________________
______________________________________Algorithm 4______________________________________ 1  loop 2   loop 3    if( select-- point() ) 4     origin = get-- instrument-- position() 5     exit loop 6    endif 7   endloop 8   set tracking-- device-- origin( origin ) 9   loop10    cursor = get-- instrunent position()11    radius = cartesian-- distance( cursor, origin )12    if( 0 = modulo(radius, large-- increment )13     oscillator &lt;&lt; large-- increment-- click14    elsif( 0 = modulo( radius, small-- increment )15     oscillator &lt;&lt; small-- increment-- click16    endif17   endloop18  endloop______________________________________
______________________________________Algorithm 5______________________________________loop 2   cursor = get-- instrument-- position () 3   if( intersected-- object( cursor ) 4    object = get-- object( cursor ) 5    if( random() &lt;= object.density ) 6     wave.grain-- function = make-- grain( object.tissue-    - type ) 7     wave.amplitude = make-- amplitude( object.density,cursor.velocity ) 8     ... // Map other parameters 9     oscillator &lt;&lt; wave10    endif11   endif12  endloop______________________________________
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