Computer-assisted surgery with electromagnetic tracking
There is described a system for tracking at least one tool relative to a bone in computer-assisted surgery. The system generally has a processing unit; and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: continuously emitting an electromagnetic field in a surgical volume incorporating at least one electromagnetic sensor on a bone and/or tool; continuously receiving a signal indicative of a position and/or orientation of the electromagnetic sensor relative to the emitting of electromagnetic field; processing the signal to determine the position and/or orientation of the at least one electromagnetic sensor; obtaining geometrical data relating the at least one electromagnetic sensor to the bone and/or tool; and continuously tracking and outputting a first position and/or orientation of the bone and/or tool using the geometrical data and the position and/or orientation of the at least one electromagnetic sensor.
1 . A system for tracking at least one tool relative to a bone in computer-assisted surgery, comprising:
a processing unit; and
a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for:
calibrating a surface of a bone and/or tool relative to at least one electromagnetic sensor by registering a geometrical relation of points of the surface of the bone and/or tool relative to the at least one electromagnetic sensor;
continuously emitting an electromagnetic field in a surgical volume incorporating the at least one electromagnetic sensor on the bone and/or tool;
continuously receiving a signal indicative of a position and/or orientation of the at least one electromagnetic sensor relative to the emitting of electromagnetic field;
processing the signal to determine the position and/or orientation of the at least one electromagnetic sensor; and
continuously tracking and outputting a first position and/or orientation of the bone and/or tool using the geometrical data and the position and/or orientation of the at least one electromagnetic sensor.
2 . The system of claim 1 wherein continuously emitting includes continuously emitting electromagnetic fields of different frequencies.
3 . The system of claim 1 wherein the outputting includes imaging the bone and/or tool.
4 . The system of claim 1 further comprising moving a robot arm based on the outputting of the first position and/or orientation of the bone and/or tool.
5 . The system of claim 1 further comprising, using an optical waveguide modeling system having at least one multicore optical fiber with at least one portion attached to the bone and/or tool, generating a waveguide model representing the multicore optical fiber as attached to the bone and/or tool; and continuously tracking and outputting a second position and/or orientation of the bone and/or tool using the waveguide model.
6 . The system of claim 5 further comprising comparing the first position and/or orientation of the bone and/or tool to the second position and/or orientation of the bone and/or tool.
7 . The system of claim 5 further comprising generating an alert upon determining a difference exceeding a threshold between the first and second positions and/or orientations of the bone and/or tool.
8 . The system of claim 1 , further comprising:
at least one electromagnetic source;
at least one electromagnetic sensor configured to be secured to a bone and/or a tool; and
a computer-assisted surgery controller for continuously driving the electromagnetic source to emit the electromagnetic field in the surgical volume incorporating the at least one electromagnetic sensor.
9 . The system of claim 8 further comprising continuously displaying the first position and/or orientation of the bone and/or tool on a display screen.
10 . The system of claim 8 further comprising a robot arm moved based on the first position and/or orientation of the bone and/or tool.
11 . The system of claim 8 further comprising an optical waveguide modeling system having at least one multicore optical fiber with at least one portion attached to the bone and/or tool, the computer-assisted surgery controller generating a waveguide model representing the multicore optical fiber as attached to the bone and/or tool; and continuously tracking and outputting a second position and/or orientation of the bone and/or tool using the waveguide model.
12 . The system of claim 11 , wherein the computer-assisted surgery controller is for comparing the first position and/or orientation of the bone and/or tool to the second position and/or orientation of the bone and/or tool.
13 . The system of claim 11 , wherein the computer-assisted surgery controller is for generating an alert upon determining a difference exceeding a threshold between the first and second positions and/or orientations of the bone and/or tool.
14 . The system of claim 8 , wherein the at least one electromagnetic sensor is secured to the bone and/or tool via an adhesive.
15 . The system of claim 1 , further including merging the points with a 3D model of the bone and/or tool.
16 . The system of claim 1 , wherein registering the geometrical relation of points of a surface of the bone and/or tool relative to the electromagnetic sensor includes registering the points using a registration pointer.
17 . The system of claim 1 , wherein registering the geometrical relation of points includes a position and orientation of the electromagnetic sensor.
18 . The system of claim 1 , wherein registering the geometrical relation of points relating the at least one electromagnetic sensor to the bone and/or tool includes registering the geometrical relation of points after receiving said signal.
19 . A system for tracking at least one tool relative to a bone in computer-assisted surgery, comprising:
a processing unit; and
a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for:
calibrating a surface of a bone and/or tool relative to at least one electromagnetic sensor by registering a fixed geometrical relation of points of the surface of the bone and/or tool relative to the at least one electromagnetic sensor;
continuously emitting an electromagnetic field in a surgical volume incorporating the at least one electromagnetic sensor on the bone and/or tool;
sensing the electromagnetic field with the at least one electromagnetic sensor and continuously receiving a signal indicative of a position and/or orientation of the at least one electromagnetic sensor relative to the emitting of electromagnetic field;
processing the signal to determine the position and/or orientation of the at least one electromagnetic sensor; and
continuously tracking and outputting a first position and/or orientation of the bone and/or tool using the geometrical data and the position and/or orientation of the at least one electromagnetic sensor.