Calibration device and calibration method for surgical instrument
A calibration device for a computer-assisted surgical instrument includes a rigid body, stabilization members, and references structurally or mechanically complementary to the stabilization members and disposed on opposite sides of a manipulator of the instrument. Kinematic state of the manipulator is defaulted when the calibration device is connected to the instrument by the stabilization members passing through the rigid body and removably attaching to the references. A calibration method for a computer-assisted surgical instrument implemented by a computer system includes the steps of: prompting a user to connect the calibration device to the instrument; determining if the calibration device is properly connected to the instrument; and generating default kinematic information of the manipulator of the instrument if the calibration device is properly connected to the instrument. The calibration device and method effectively improve accuracy and precision of computer-assisted surgeries.
1. A calibration device for a computer-assisted surgical instrument, comprising:
a rigid body;
a plurality of stabilization members; and
a plurality of references structurally or mechanically complementary to the stabilization members and disposed on opposite sides of a manipulator of the instrument,
wherein kinematic state of the manipulator is defaulted when the calibration device is connected to the instrument by the stabilization members passing through the rigid body and removably attaching to the references.
2. The calibration device according to claim 1 , further comprising a connection sensing mechanism for detecting a state of connection between the calibration device and the instrument, wherein the connection sensing mechanism comprises at least one transmitter-receiver pair or one marker-reader pair disposed on the calibration device and the instrument respectively.
3. The calibration device according to claim 1 , wherein a spatial sensor system associated with the instrument is calibrated when the calibration device is connected to the instrument.
4. The calibration device according to claim 1 , wherein manipulator sensors of the instrument is calibrated when the calibration device is connected to the instrument.
5. The calibration device according to claim 1 , wherein default kinematic information generated from the defaulted kinematic state of the manipulator is utilized as a calculation basis for determining a position of a tip of a tool of the instrument according to control signals generated by a computer system associated with the instrument for altering the kinematic state of the manipulator.
6. The calibration device according to claim 1 , wherein the rigid body is formed as a part of an instrument holder, and the instrument holder comprises a structure that fits at least a portion of the instrument.
7. A calibration method for a computer-assisted surgical instrument and implemented by a computer system, comprising steps of:
(S1) prompting a user to connect a calibration device to the instrument;
(S2) determining if the calibration device is properly connected to the instrument; and
(S3) generating default kinematic information of a manipulator of the instrument if the calibration device is properly connected to the instrument, or returning to Step S1 if the calibration device is not properly connected to the instrument,
wherein the calibration device comprises a rigid body, a plurality of stabilization members, and a plurality of references structurally or mechanically complementary to the stabilization members and disposed on opposite sides of a manipulator of the instrument, and
kinematic state of the manipulator is defaulted when the calibration device is connected to the instrument by the stabilization members passing through the rigid body and removably attaching to the references.
8. The calibration method according to claim 7 , further comprising a step of: adjusting the manipulator so that the kinematic state of the manipulator is close to the defaulted kinematic state.
9. The calibration method according to claim 7 , further comprising a step of: prompting the user to adjust the manipulator so that the kinematic state of the manipulator is close to the defaulted kinematic state.
10. The calibration method according to claim 7 , wherein connection between the calibration device and the instrument is determined according to receipt of a confirmation signal entered by the user.
11. The calibration method according to claim 7 , wherein connection between the calibration device and the instrument is determined according to receipt of a confirmation signal sent from a connection sensing mechanism.
12. The calibration method according to claim 7 , wherein the step S 3 further comprises a step of: calibrating a spatial sensor system associated with the instrument according to the default kinematic information.
13. The calibration method according to claim 7 , wherein the step S 3 further comprises a step of: calibrating manipulator sensors of the instrument according to the default kinematic information.
14. The calibration method according to claim 8 , wherein the default kinematic information is utilized as a calculation basis for determining a position of a tip of a tool of the instrument according to control signals generated by the computer system for altering the kinematic state of the manipulator.