Methods for locating and tracking a tool axis

Patent metadata

Field	Value
Publication number	US-12376912-B2
Application number	US-202318132557-A
Country	US
Kind code	B2
Filing date	Apr 10, 2023
Priority date	Mar 5, 2015
Publication date	Aug 5, 2025
Grant date	Aug 5, 2025

Abstract

A system for determining an orientation of a tool axis with respect to a coordinate frame of a robot is described herein. The robot includes a tool holder and a plurality of fiducial markers for defining a first coordinate frame of the robot. A calibration device is provided having a second fiducial marker for a tracking system to track positions and configured to couple to the tool holder; and rotate relative to the tool holder when coupled to the tool holder. A computer having a processor is configured to fit a circle or arc to recorded positions of the calibration device. The recorded positions of the calibration device are recorded when coupled to the tool holder, is rotated relative to the tool holder. A vector normal to the fitted circle or arc is calculated to determine an orientation of the tool axis. A method of use is also provided.

First claim

The invention claimed is:

1. A system for determining an orientation of a tool axis with respect to a coordinate frame of a robot, comprising:
a robot comprising a tool holder and a plurality of first fiducial markers for defining a first coordinate frame of the robot;
a calibration device comprising a second fiducial marker for a tracking system to track positions of the calibration device, wherein the calibration device is configured to: (i) couple to the tool holder; and (ii) rotate relative to the tool holder when coupled to the tool holder; and
a computer comprising a processor configured to:
fit a circle or arc to recorded positions of the calibration device, wherein the recorded positions are recorded as the calibration device, when coupled to the tool holder, is rotated relative to the tool holder; and
calculate a vector normal to the fitted circle or arc to determine an orientation of the tool holder axis with respect to the coordinate frame.

2. The system of claim 1 wherein the calibration device further comprises a plurality of second fiducial markers that define a second coordinate frame of the calibration device, wherein each recorded position of the calibration device is recorded as a position of an origin of the second coordinate frame.

3. The system of claim 1 wherein each recorded position of the calibration device is recorded as a position of the second fiducial marker.

4. The system of claim 1 wherein the processor is further configured to calculate a center of the fitted circle or arc, wherein the vector normal is calculated at the location of the calculated center to determine a location of the tool holder axis.

5. The system of claim 1 further comprising a tracking system, wherein the computer is operatively coupled to the tracking system.

6. The system of claim 5 wherein the computer is further configured to record positions of the calibration device as the calibration device, when coupled to the tool holder, is rotated relative to the tool holder.

7. The system of claim 1 wherein the tool holder is a chuck or collet.

8. The system of claim 7 wherein the chuck or collet further comprises a magnet.

9. The system of claim 1 wherein the tool holder is configured to hold a tool comprising at least one of a pin, a burr, an end-mill, or a reamer.

10. A system for determining an orientation of a tool axis with respect to a coordinate frame of a robot, comprising:
a robot comprising a tool and a plurality of first fiducial markers for defining a first coordinate frame of the robot;
a calibration device comprising a second fiducial marker for a tracking system to track positions of the calibration device, wherein the calibration device is configured to: (i) couple to the tool; and (ii) rotate relative to the tool when coupled to the tool; and
a computer comprising a processor configured to:
fit a circle or arc to recorded positions of the calibration device, wherein the recorded positions are recorded as the calibration device, when coupled to the tool, is rotated relative to the tool; and
calculate a vector normal to the fitted circle or arc to determine an orientation of the tool axis with respect to the coordinate frame.

11. The system of claim 10 wherein the calibration device further comprises a plurality of second fiducial markers for defining a second coordinate frame of the calibration device, wherein each recorded position of the calibration device is recorded as a position of an origin of the second coordinate frame.

12. The system of claim 11 wherein each recorded position of the calibration device is recorded as a position of the plurality of second fiducial markers.

13. The system of claim 10 wherein the processor is further configured to calculate a center of the fitted circle or arc, wherein the vector normal is calculated at the location of the calculated center to determine a location of the tool axis.

14. The system of claim 10 further comprising a tracking system, wherein the computer is operatively coupled to the tracking system.

15. The system of claim 14 wherein the computer is further configured to record positions of the calibration device as the calibration device, when coupled to the tool, is rotated relative to the tool.

16. The system of claim 10 wherein the tool comprises at least one of a pin, a burr, an end-mill, or a reamer.

17. A method for determining a location and an orientation of a tool axis with respect to a coordinate frame of a robot, the method comprising:
providing a robot comprising a hand-held portion, a working portion, and a fiducial marker array with three or more fiducial markers integrated on the working portion, where the three or more fiducial markers define a first coordinate frame of the robot;
positioning the robot in a field-of-view of a tracking system;
coupling a calibration device with a second set of three or more fiducial markers to a tool or tool holder of the robot;
rotating the calibration device about an axis of the tool or the tool holder;
recording positions of the calibration device with the tracking system comprising at least one of:
a position of at least one of the fiducial markers of the second set of the three or more fiducial markers, or
a position of an origin of a second coordinate frame of the calibration device as calculated from the second set of the three or more fiducial markers;

fitting a circle or arc to the recorded positions;
calculating a center of the fitted circle or arc;
calculating a vector normal to the fitted circle or arc to determine an orientation of a tool axis with respect to the second coordinate frame; and
wherein the vector normal is calculated at the location of the calculated center of the fitted circle or arc to determine a location of the tool axis.

18. The method of claim 17 wherein; wherein each recorded position of the calibration device is recorded as a position of the origin of the second coordinate frame.

19. The method of claim 17 wherein each recorded position of the calibration device is recorded as a position of the second set of the three or more fiducial markers.

Assignees

• Think Surgical Inc

Inventors

• Bonny Daniel Patrick
• Zuhars Joel
• Netravali Nathan A

Classifications

• A61B17/17

  Guides {or aligning means} for drills {, mills, pins or wires} · CPC title

• A61B17/15

  Guides therefor · CPC title

• A61B2034/207

  Divots for calibration · CPC title

• A61B2090/3983

  Reference marker arrangements for use with image guided surgery · CPC title

• A61B2034/2055

  Optical tracking systems · CPC title