System and method for reducing interference in positional sensors for robotic surgery
The invention involves a system and method for increasing positional accuracy of surgical systems that utilize magnetic or electromagnetic sensors to provide positional awareness to a surgeon or robot performing the surgery. The system takes advantage of electromagnetic tracking through sensors. These sensors are very accurate and repeatable, while being compact enough to not inhibit surgical procedures. The accuracy and repeatability of the sensors is <1 mm within a predetermined 6 inch×6 inch performance motion box. The system is constructed and arranged to map the distortion patterns of the sensor and, in real time, correct the distortion pattern to provide accurate location of anatomical structures for performance of a surgery.
1. A system for compensating for static and dynamic positional interference in magnetic sensors for surgical procedures comprising;
at least one electromagnetic sensor secured rigidly to an object to be tracked, wherein the object is a bone of a patient;
a field generator constructed and arranged to induce currents in said at least one electromagnetic sensor by producing a magnetic field in proximity to said at least one electromagnetic sensor, said field generator in electrical communication with said electromagnetic sensor;
a system control unit in electrical communication with said field generator and said at least one electromagnetic sensor, said system control unit calculating the position and orientation of said at least one electromagnetic sensor within a predetermined field;
a robot having at least two axes of movement, said robot electrically connected to a control computer for controlling movements of said robot along said at least two axes, said control computer electrically connected to said system control unit for receiving information regarding the position of said at least one electromagnetic sensor for positioning said robot with respect to said at least one sensor;
a surgical tool connected to said robot for performing a portion of a medical procedure, said surgical tool constructed of a material that interferes with said magnetic field when positioned within said predetermined field;
whereby said computer is utilized to cause said robot to move said surgical tool through a series of positions recording positional interference between said at least one electromagnetic sensor, said field generator and said system control unit to provide accurate positioning of said surgical tool with respect to said at least one electromagnetic sensor, and
wherein the recorded positional interference is compared to a perceived surgical tool position to determine if the at least one electromagnetic sensor has moved with respect to an original position of the at least one electromagnetic sensor, and
wherein the robot repositions the surgical tool to a proper position with respect to the electromagnetic sensor if the at least one electromagnetic sensor has moved with respect to an original position of the at least one electromagnetic sensor.
2. The system for compensating for static and dynamic positional interference in magnetic sensors of claim 1 wherein said robot includes three axes of movement.
3. The system for compensating for static and dynamic positional interference in magnetic sensors of claim 1 wherein said induced currents are varied by altering said magnetic field with said field generator.
4. The system for compensating for static and dynamic positional interference in magnetic sensors of claim 1 wherein said surgical tool includes metal.
5. The system for compensating for static and dynamic positional interference in magnetic sensors of claim 1 wherein said computer constructs a distortion map for said surgical tool, said distortion map representing said positional distortion between said at least one electromagnetic sensor and said field generator for said surgical tool as moved through said series of positions.
6. The system for compensating for static and dynamic positional interference in magnetic sensors of claim 5 wherein said robot utilizes two or more said surgical tools, each said tool including a respective distortion map.
7. The system for compensating for static and dynamic positional interference in magnetic sensors of claim 1 wherein said robot moves said surgical tool through a plurality of orientations with respect to said electromagnetic sensor.
8. The system for compensating for static and dynamic positional interference in magnetic sensors of claim 5 including two or more said electromagnetic sensors, said computer constructs a distortion map for said surgical tool and each said two or more sensors, said distortion map representing said positional distortion between said two or more electromagnetic sensors and said field generator for said surgical tool as moved through said series of positions.
9. The system for compensating for static and dynamic positional interference in magnetic sensors of claim 7 wherein positional distortion of said surgical tool orientation is stored on a second positional distortion map, said first positional distortion map and said second positional distortion map both utilized to determine if said surgical tool is being positioned as desired with respect to said electromagnetic sensor in real time.
10. The system for compensating for static and dynamic positional interference in magnetic sensors of claim 1 wherein said electromagnetic sensor includes a plurality of wire coils positioned at different orientations with respect to each other for procuring electrical current when exposed to said magnetic field.