Granted Patent B2

US 10,064,687 · App. 15/032,158 · Granted Sep 4, 2018

Abstract

Claims (38)

1. A navigation system for computer-assisted surgery, comprising:

a computer comprising a processor, the processor being configured to perform the steps of:

a) acquiring, at the processor, predetermined constraint information defining one or more positions and/or orientations of an object in space;

b) acquiring, at the processor, orientation data of the object while the object is positioned or moved while fulfilling a predetermined constraint; and

c) determining, by the processor, compensation information based on the predetermined constraint information and the acquired orientation data of the object;

a detection device for detecting an orientation of the object and supplying the orientation data to the computer; and

a user interface for receiving data from the computer in order to provide information to a user, wherein the received data are generated by the computer on the basis of a result of processing performed by the computer.

2. The navigation system according to the claim 1 , wherein the detection device is at least one of a camera, an electromagnetic sensor, a sensor array.

3. A navigation system setup comprising:

the navigation system according to claim 1 ; and

a sensor that is connected or fixed to the object and is configured to transmit movement or acceleration data to the computer, wherein the sensor is at least one of a gyroscopic sensor or an inertial sensor.

4. A method performed using a computer comprising a processor, for generating compensation information for tracking or for determining the position and/or orientation of an object in space, the method comprising the following steps performed by a computer:

a) acquiring, at the processor, a predetermined constraint information defining one or more positions and/or orientations of the object in space;

b) acquiring, at the processor, orientation data of the object while the object is positioned or moved while fulfilling the predetermined constraint; and

c) determining, by the processor, the compensation information based on the predetermined constraint information and the acquired orientation data of the object.

5. The method of claim 4 , wherein the predetermined constraint information is a motion constraint information or an information defining a pivoting operation or an information defining a motion path, each of these capable of employing free parameters in the estimation procedure.

6. The method of claim 4 , wherein the predetermined constraint information is an information obtained or acquired from a sensor, the sensor can be connected to the object or the tracking system, or is the information that only a camera or camera system is moved.

7. The method of claim 4 , wherein step c) of determining, by the processor, the compensation information includes the steps:

c1) determining, by the processor, an estimate value specifying the predetermined constraint information;

c2) determining, by the processor, based on the acquired position and/or orientation data of the object a possible or corresponding position and/or orientation data of the object such that the object fulfils the predetermined constraint information;

c3) comparing, by the processor, the possible or corresponding position and/or orientation data of the object with the acquired position and/or orientation data of the object and determining, by the processor, a compensation information to compensate or shift the acquired position and/or orientation data of the object, so that the predetermined constraint information is fulfilled.

8. The method of claim 4 , wherein a bias field is determined by the processor based on a number of determined, by the processor, compensation information at different acquired position and/or orientation data of the object.

9. The method of claim 4 , wherein the bias field is described based on an approximation of the measured bias field values.

10. The method claim 8 , wherein the bias field is modelled restricted by regularization terms to restrict variations of the bias field being below a predetermined upper limit.

11. The method of claim 8 , wherein the determined compensation information or bias field is stored in a database.

12. The method of claim 8 , wherein the user is informed about the bias field and/or if the bias field has at least one bias or correction value being above a defined limit, a warning or text message is provided to the user.

13. A method for compensating a tracking or position or orientation data of an object in space, the method comprising the following steps performed by a computer comprising a processor:

a) acquiring, at the processor, position and/or orientation data of the object;

b) acquiring, at the processor, the compensation information generated according to any one of claims 4 to 12 , the compensation information being related or corresponding to the acquired position and/or orientation data of the object; and

c) determining, by the processor, from the acquired position and/or orientation data of the object and the related or corresponding compensation information a compensated position and/or orientation data of the object.

14. A non-transitory computer readable program which, when running on a computer or when loaded onto a computer, causes the computer to perform the method steps:

a) acquiring, at the processor, a predetermined constraint information defining one or more positions and/or orientations of an object in space;

b) acquiring, at the processor, orientation data of the object while the object is positioned or moved while fulfilling the predetermined constraint; and

c) determining, by the processor, compensation information based on the predetermined constraint information and the acquired orientation data of the object.

15. A computer comprising a non-transitory computer readable program which, when running on a computer or when loaded onto a computer, causes the computer to perform the method steps:

a) acquiring, at the processor, a predetermined constraint information defining one or more positions and/or orientations of the object in space;

b) acquiring, at the processor, orientation data of the object while the object is positioned or moved while fulfilling the predetermined constraint; and

c) determining, by the processor, the compensation information based on the predetermined constraint information and the acquired orientation data of the object.

Assignments (2)

Cited By (9)

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