Attachments for tracking handheld implements
View Patent ↗Devices and systems are provided for tracking a position and orientation of a handheld implement, such that the handheld implement may be trackable with an overhead tracking system. A support member secures one or more markers relative to a longitudinal portion of the handheld implement, and a marker plane containing the markers is orientated an angle relative to a longitudinal axis of the longitudinal portion. A marker assembly may include a support member for supporting the markers, and a connector for removably attaching the marker assembly to one or more handheld implements. The marker assembly may be configured to be removably attachable to a plurality of connection adapters, where each connection adapter is further connectable to a handheld implement, optionally at a calibrated position, such that a single connection adapter can be optionally employed to track a plurality of handheld implements. The handheld implement may be a medical instrument.
1. A marker assembly for locating a handheld implement, said marker assembly comprising:
a support member connected or connectable to a longitudinal portion of the handheld implement, said support member comprising:
a pair of proximal segments configured to extend from said longitudinal portion when said support member is connected to the handheld implement; and
at least one distal segment extending from said proximal segments;
wherein said proximal segments and said at least one distal segment at least partially surround a central aperture;
wherein said pair of proximal segments form a proximal plane and said one or more distal segments form a distal marker plane, wherein said distal marker plane is angled, relative to said proximal plane, toward a distal region of said handheld implement; and
one or more tracking markers affixed to said distal segment;
wherein said one or more tracking markers are suitable for locating a three-dimensional position and orientation of the handheld implement when said marker assembly is secured to the handheld implement;
wherein said proximal segments and said at least one distal segment form said central aperture such that, when said marker assembly is secured to said handheld implement and during use of said handheld implement, an unobstructed view of a distal end of the longitudinal portion is provided through the aperture.
2. The marker assembly according to claim 1 wherein said at least one distal segment is a single distal segment connected to each proximal segment of said pair of proximal segments.
3. The marker assembly according to claim 1 wherein said distal marker plane is oriented at an angle between 50 and 70 degrees relative to the longitudinal axis.
4. The marker assembly according to claim 1 wherein said distal segment is shaped in an arc.
5. The marker assembly according to claim 1 wherein said pair of proximal segments and said at least one distal segment are configured such that said central aperture is sufficiently large to permit viewing of at least two spinal levels when a distal portion of the handheld implement is contacted with the spine and said central aperture is viewed by a user from a viewing location behind the handheld implement and said marker assembly.
6. The marker assembly according to claim 1 wherein said pair of proximal segments and said at least one distal segment shaped to form a closed ring or an open ring.
7. The marker assembly according to claim 1 further comprising a connector for connecting said marker assembly to the handheld implement.
8. The marker assembly according to claim 7 wherein said connector is configured to be gripped by a hand.
9. The marker assembly according to claim 7 wherein said connector is configured to allow free rotation of the handheld implement relative to said connector.
10. The marker assembly according to claim 1 further comprising a mechanism for varying an angle of said distal marker plane relative to the longitudinal axis when the marker assembly is connected to the handheld implement.
11. The marker assembly according to claim 10 wherein said mechanism is configured for locking an orientation of said distal marker plane in one or more pre-selected angles.
12. A system for tracking a handheld implement during a medical procedure, said system comprising:
a marker assembly according to claim 1 , wherein said marker assembly is connected to said handheld implement;
an overhead optical tracking system comprising at least two cameras, wherein the optical tracking system is configured to detect a signal associated with each tracking marker of said marker assembly; and
a processor configured to receive said signals and to calculate a relative position and orientation of said handheld implement based on said signals.
13. The system according to claim 12 wherein said handheld implement has associated therewith a pre-defined range of angular orientations relative to the patient during the medical procedure;
wherein said marker plane is angled relative to the longitudinal axis such that when said handheld implement is positioned at a mid-point of the pre-defined range of angular orientations, a view axis of said overhead tracking system is approximately orthogonal to said marker plane, such that said one or more tracking markers are suitable for locating the three-dimensional position and orientation of said handheld implement when said handheld implement is oriented within the pre-defined range of angular orientations.
14. The system according to claim 12 wherein the tracking system is an overhead optical tracking system comprising two cameras, wherein the optical tracking system is configured to detect an optical signal associated with each tracking marker of said marker assembly.