System and method for estimating the spatial position of a tool within an object

Patent metadata

Field	Value
Publication number	US-9814532-B2
Application number	US-201314402323-A
Country	US
Kind code	B2
Filing date	May 21, 2013
Priority date	May 21, 2012
Publication date	Nov 14, 2017
Grant date	Nov 14, 2017

Abstract

The invention relates to a system for estimating the spatial position (pose) of a tool ( 2 ) within an object ( 1 ), particularly in the form of a human bone that is to be machined with said tool, comprising: a sensor ( 21 ) being designed to be coupled to said tool ( 2 ), which sensor ( 21 ) is further designed to generate an sensor output signal ( 31 ) upon machining of said object ( 1 ) along an actual trajectory ( 30 ), which sensor output signal ( 31 ) depends on a material property of said object along said actual trajectory ( 30 ), an analyzing means being designed to determine a correlation between said sensor output signal ( 31 ) upon machining said object ( 1 ) and a plurality of pre-determined candidate output signals ( 42 ), each candidate output signal ( 42 ) being generated in beforehand using said material property along an associated model trajectory ( 40 ) in a model of said object ( 1 ), and wherein said analyzing means is designed to estimate a spatial position of the tool ( 2 ) within the object ( 1 ) using the model trajectory ( 40 ) whose associated candidate output signal ( 42 ) has the highest correlation with the sensor output signal ( 31 ), for instance. The invention further relates to a method for estimating the pose of the tool ( 2 ), as well as a computer program product.

First claim

The invention claimed is:

1. A system for estimating the spatial position of a tool within an object, particularly in the form of a human bone that is to be machined with said tool, comprising:
a sensor being designed to be coupled to said tool, which sensor is further designed to generate a sensor output signal upon machining of said object along an actual trajectory, which sensor output signal depends on a material property of said object along said actual trajectory,
an analyzing means being designed to determine a spatial position of the tool within the object, wherein for determining said spatial position the analyzing means is designed to determine a correlation between said sensor output signal, particularly upon machining said object, and at least one pre-determined candidate output signal being generated in beforehand using said material property along an associated model trajectory in a model of said object.

2. The system according to claim 1 , characterized in that, for estimating said spatial position the analyzing means is designed to determine a correlation between said sensor output signal, particularly upon machining said object, and a plurality of pre-determined candidate output signals, each candidate output signal being generated in beforehand using said material property along an associated model trajectory in a model of said object.

3. The system according to claim 2 , characterized in that for determining the spatial position of the tool within the object, the analyzing means is designed to determine at least the candidate output signal that correlates best with the sensor output signal, wherein particularly the analyzing means is designed to determine the spatial position of the tool within the object as an end point of the model trajectory associated to said best-correlated candidate output signal and/or an orientation of said model trajectory.

4. The system according to claim 3 , characterized in that for determining at least the candidate output signal (Y i ) that correlates best with the sensor output signal (X) the analyzing means is designed to perform a linear transformation of at least a section of each candidate output signal (Y i ) to match the latter with the sensor output signal (X) of the sensor, particularly according to Z, i =bY i T+c, where Z i is the transformed candidate output signal, b is a scaling factor and c is a shift vector, and T is an optional orthogonal rotation matrix, and wherein the analyzing means is designed to choose b, c and optionally T such that the dissimilarity measure d i being defined as d i =Σ j (X j −Z, ij ) 2 becomes a minimum, wherein particularly the analyzing means is designed to determine the candidate output signal (Y i ) that correlates best with the sensor output signal (X) as the candidate output signal (Y i ) being associated to the smallest d i .

5. The system according to claim 2 , characterized in that the analyzing means is designed to compute a weight (w i ) associated to each model trajectory as a measure for the correlation between the sensor output signal and the respective candidate output signal associated to the respective model trajectory, wherein particularly each weight (w i ) is a function of the difference between the sensor output signal and the respective candidate output signal, particularly the squared difference, wherein particularly for determining the spatial position of the tool within the object, the analyzing means is designed to compute a weighted average over corresponding points, particularly end points (p i ), of the model trajectories and/or over orientations (o i ) of the model trajectories, wherein each of said points (p i ) and/or orientations is weighted with the weight (w i ) associated to the model trajectory to which the respective point (p i ) and/or orientation (o i ) belongs.

6. The system according to claim 1 , characterized in that the system further comprises a tool for machining said object.

7. The system according to claim 1 , characterized in that the tool is formed as a drill, wherein particularly the drill comprises a drilling bit that is designed to drill a drill hole into the object, when the drilling bit is pressed against the object upon rotating the drill about a longitudinal axis (L) of the drill, along which the drill extends.

8. The system according to claim 7 , characterized in that the system comprises a drive for rotating the drill around said longitudinal axis (L) of the drill.

9. The system according to claim 1 , characterized in that the material property is the density of the object, particularly a bone density.

10. A method for estimating the spatial position of a tool within an object, the method comprising the steps of:
generating at least one candidate output signal based on a material property of the object along a model trajectory in a model of said object, the model trajectory being associated with the at least one candidate output signal,
providing a sensor output signal depending on the material property along an actual trajectory in said object,
determining a correlation between the sensor output signal and the at least one candidate output signal for determining the spatial position of the tool within the object.

11. The method according to claim 10 , characterized in that for estimation of said spatial position, a correlation between said sensor output signal, particularly upon machining said object, and a plurality of pre-determined candidate output signals is determined, each candidate output signal being generated beforehand using said material property along an associated model trajectory in a model of said object.

12. The methods according to claim 11 , characterized in that the spatial position of the tool within the object is defined as the candidate output signal that correlates best with the sensor output signal, wherein particularly the spatial position of the tool within the object is determined as an end point of the model trajectory associated to said best-correlated candidate output signal and/or as an orientation of said model trajectory.

13. The method according to claim 12 , characterized in that for determination of the candidate output signal (Y i ) that correlates best with the sensor output signal (X) a linear transformation of at least a section of each candidate output signal (Y i ) is performed to match the latter with the sensor output signal (X) of the sensor, particularly according to Z i =bY i T+c, where Z i is the transformed candidate output signal, b is a scaling factor and c is a shift vector, and T is an optional orthogonal rotation matrix, and wherein b, c and optionally T are chosen such that the dissimilarity measure d i being defined as d i =Σ j (X j −Z ij ) 2 becomes a minimum, wherein particularly the candidate output signal (Y i ) that correlates best with the sensor output signal (X) is determined as the candidate output signal (Y i ) being associated to the smallest d i .

14. The method according to claim 10 , characterized in that a weight (w i ) is computed for each model trajectory as a measure for the correlation between the sensor output signal and the respective candidate output signal associated to the respective model trajectory, wherein particularly each weight (w i ) is a function of the difference between the sensor output signal and the respective candidate output signal, particularly the squared difference, wherein particularly for determining the spatial position of the tool within the object, a weighted average over corresponding points, particularly end points (p i ), of the model trajectories and/or over orientations (o i ) of the model traject

Assignees

• Univ Bern

Inventors

• Bell Brett J
• Weber Stefan
• Williamson Tom

Classifications

• G06T2207/30164

  Workpiece; Machine component · CPC title

• A61B2034/104

  Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring · CPC title

• A61B34/25

  User interfaces for surgical systems · CPC title

• G06T7/74

  involving reference images or patches · CPC title

• A61B2090/065

  for measuring contact or contact pressure · CPC title