Medical Registration Apparatus and Method for Registering an Axis

Patent metadata

Field	Value
Publication number	US-2016262913-A1
Application number	US-201414907106-A
Country	US
Kind code	A1
Filing date	Jan 24, 2014
Priority date	Aug 13, 2013
Publication date	Sep 15, 2016
Grant date	—

Abstract

The invention relates to a medical registration apparatus ( 1 ), comprising •two flanks ( 2 a, 2 b ); •a pivot portion ( 3 ) around which at least one of the flanks ( 2 a, 2 b ) is rotatable with respect to a rotation centre ( 3 c, 3 d ) (FIG. 1 , FIG. 3 ); •a contacting portion ( 4 a, 4 b ) on each of the flanks ( 2 a, 2 b ), each contacting portion ( 4 a, 4 b ) being spaced apart from the rotation centre ( 3 c, 3 d ); and •a sensor ( 5, 6 ) being arranged with an offset (r, FIG. 4 A) to a line (a) connecting the contacting portions ( 4 a, 4 b ). The invention also relates to a data processing method for use with the medical registration apparatus.

First claim

1 - 15 . (canceled)

16 . A medical registration apparatus, comprising:
two flanks; a pivot portion around which at least one of the flanks is rotatable with respect to a rotation centre; a contacting portion on each of the flanks, each contacting portion being spaced apart from the rotation centre; and a sensor being arranged with an offset to a line connecting the contacting portions.

17 . The registration apparatus according to the claim 16 , wherein the sensor is positioned for every opening angle of the flanks on or has a predetermined spatial relationship relative to a mirror plane which describes a mirror symmetry between the positions of the contacting portions.

18 . The registration apparatus according to claim 16 , wherein the sensor is at least one of an inertial sensor and an optical sensor.

19 . The registration apparatus according to claim 16 , wherein the sensor comprises an optical sensor and an inertial sensor, and the optical sensor has a predetermined spatial relationship relative to the inertial sensor.

20 . The registration apparatus according to claim 16 , wherein different rotation centres are provided, so that each flank can rotate about its own rotation centre.

21 . The registration apparatus according to claim 16 , wherein the pivot portion includes a hinge element such as a transmission, in particular a gearing.

22 . The registration apparatus according to claim 16 , wherein the flanks are shaped and attached to the pivot portion so that the contacting portions on each of the flanks and the rotation centre(s) lie in the same plane for every opening angle of the flanks.

23 . The registration apparatus according to claim 16 , wherein each contacting portion has the same distance from its rotation centre.

24 . The registration apparatus according to claim 16 , wherein at least one or each of the contacting portions is connected to a flank via a joint or rotation mechanism.

25 . The registration apparatus according to claim 16 , comprising a locking mechanism to secure the flanks in a fixed position with respect to each other.

26 . A medical navigation system, comprising:
a) a detection unit for detecting the position of the registration apparatus according to claim 16 ; and b) a computer configured to execute a program which, when executed by the computer, causes a processor of the computer to perform a computer-implemented method for registering, with respect to a sensor, an axis of the registration apparatus, comprising executing, on the processor of the computer, steps of: acquiring, at the processor, sensor movement data representing a rotational movement of the sensor of the registration apparatus around the axis; and determining, by the processor and based on the sensor movement data, axis registration data representing the spatial relationship of the axis relative to the sensor.

27 . A medical navigation system, comprising:
a) a detection unit for detecting the position of the registration apparatus according to claim 16 ; and b) a computer configured to execute a program which, when executed by the computer, causes a processor of the computer to perform a computer-implemented method for registering, relative to an external reference, an axis using the registration apparatus, comprising executing, on the processor of the computer, steps of: registering the axis with respect to the sensor by acquiring, at the processor, sensor movement data representing a rotational movement of the sensor of the registration apparatus around the axis of the registration apparatus and determining, by the processor and based on the sensor movement data, axis registration data representing the spatial relationship of the axis of the registration apparatus relative to the sensor; acquiring, at the processor, optical sensor data representing the distance between the optical sensor of the registration apparatus and the external reference; and determining, by the processor and based on the optical sensor data and the axis registration data, spatial axis data representing the spatial relationship of the axis relative to the external reference.

28 . A computer-implemented method for registering, with respect to a sensor, an axis of a registration apparatus according to claim 16 , the method comprising executing, on a processor of a computer, steps of:
acquiring, at the processor, sensor movement data representing a rotational movement of the sensor of the registration apparatus around the axis; determining, by the processor and based on the sensor movement data, axis registration data representing the spatial relationship of the axis relative to the sensor.

29 . A computer-implemented method for registering, relative to an external reference, an axis using the registration apparatus according to claim 16 , the method comprising executing, on a processor of a computer, steps of:
registering the axis with respect to the sensor by acquiring, at the processor, sensor movement data representing a rotational movement of the sensor of the registration apparatus around the axis of the registration apparatus and determining, by the processor and based on the sensor movement data, axis registration data representing the spatial relationship of the axis of the registration apparatus relative to the sensor; acquiring, at the processor, optical sensor data representing the distance between the optical sensor of the registration apparatus and the external reference; determining, by the processor based on the optical sensor data and the axis registration data, spatial axis data representing the spatial relationship of the axis relative to the external reference.

30 . The method according to claim 28 , wherein the axis is a characteristic axis of an anatomical body part, for example the axis connecting the epicondyli of the femur.

31 . The method according to claim 29 , wherein the axis is a characteristic axis of an anatomical body part, for example the axis connecting the epicondyli of the femur.

32 . A non-transitory computer-readable program storage medium on which a program is stored which, when running on a computer or when loaded onto a computer, causes the computer to perform a computer-implemented method for registering, with respect to a sensor, an axis of a registration apparatus according to claim 16 , the method comprising executing, on the processor of the computer, steps of:
acquiring, at the processor, sensor movement data representing a rotational movement of the sensor of the registration apparatus around the axis; determining, by the processor and based on the sensor movement data, axis registration data representing the spatial relationship of the axis relative to the sensor.

33 . A non-transitory computer-readable program storage medium on which a program is stored, when running on a computer or when loaded onto a computer, causes the computer to perform a computer-implemented method for registering, relative to an external reference, an axis using the registration apparatus according to claim 16 , the method comprising executing, on the processor of the computer, steps of:
registering the axis with respect to the sensor by acquiring, at the processor, sensor movement data representing a rotational movement of the sensor of the registration apparatus around the axis of the registration apparatus and determining, by the processor and based on the sensor movement data, axis registration data representing the spatial relationship of the axis of the registration apparatus relative to the senso

Assignees

• Brainlab Ag

Inventors

• Kling Sabine
• Poitzsch Luise
• Schubert Mario
• Stulpe Melanie

Classifications

• A61B2034/2055

  Optical tracking systems · CPC title

• A61B5/1127

  using markers · CPC title

• A61B5/1114

  Tracking parts of the body · CPC title

• A61B2034/105

  Modelling of the patient, e.g. for ligaments or bones · CPC title

• A61B2090/067

  for measuring angles · CPC title