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US 12,751,773 B2Granted
Methods and systems for calibrating surgical instruments for surgical navigation guidance
AssigneesSmith & Nephew, Inc., Smith & Nephew Orthopaedics AG, Smith & Nephew Asia Pacific Pte. Limited
InventorsCarolina Dos Santos Raposo, João Pedro De Almeida Barreto, Nicholas R. Labriola, Diogo Emanuel Ribas Vaz
Life of this patent
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Abstract
Some examples are directed to methods, systems, and related tools for calibrating a unique fiducial to a surgical instrument with which it is to be physically associated or on which it is to be marked.
Claims18
A method of generating, for a unique fiducial, geometric entity data corresponding to a field instrument, the method comprising:
- physically associating the unique fiducial with a calibration instrument;
- generating a first transformation from a frame M of a digital model of the field instrument to a frame O of the unique fiducial using the calibration instrument;
- calculating based on the first transformation, for each of at least one geometric entity of the digital model in the frame M, at least one pose of the geometric entity in the frame O;
- and
- electronically storing, in association with an identification of the unique fiducial, each of the at least one pose as the geometric entity data,
- wherein the unique fiducial is physically dissociated from the calibration instrument to be physically associated with the field instrument for use in a video-based surgical navigation.
3 more elements
A method of generating geometric entity data for a field instrument having a unique fiducial, the method comprising:
- physically associating a calibration instrument having a first calibration fiducial with a calibration jig having a second calibration fiducial;
- generating a first transformation from a frame L of the calibration instrument to a frame M of the calibration jig using the first calibration fiducial and the second calibration fiducial;
- calculating based on the first transformation, for each of at least one geometric entity of the calibration instrument in the frame L, at least one pose of the geometric entity in the frame M;
- physically dissociating the calibration instrument from the calibration jig;
- physically associating the field instrument or a component thereof with the calibration jig;
- generating a second transformation from the frame M of the calibration jig to a frame N of the field instrument using the second calibration fiducial and the unique fiducial;
- calculating based on the second transformation, for each pose of the at least one geometric entity in the frame M, at least one counterpart pose of the geometric entity in the frame N;
- and
- electronically storing, in association with an identification of the unique fiducial, each counterpart pose as the geometric entity data,
- wherein the field instrument or the component thereof is physically dissociated from the calibration jig for use in a video-based surgical navigation.
7 more elements
A method of generating geometric entity data for a field instrument having a unique fiducial, the method comprising:
- generating a first transformation from a frame L of a digital model of the field instrument to a frame M of a calibration jig using a calibration fiducial of the calibration jig;
- calculating based on the first transformation, for each of at least one geometric entity of the digital model in the frame L, at least one pose of the geometric entity in the frame M;
- physically associating the field instrument or a component thereof with the calibration jig;
- generating a second transformation from the frame M of the calibration jig to a frame N of the field instrument using the calibration fiducial and the unique fiducial;
- calculating based on the second transformation, for each pose of the at least one geometric entity in the frame M, at least one counterpart pose of the geometric entity in the frame N;
- and
- electronically storing, in association with an identification of the unique fiducial, each counterpart pose as the geometric entity data,
- wherein the field instrument or the component thereof is physically dissociated from the calibration jig for use in a video-based surgical navigation.
5 more elements
Dependencies are inferred from the claim text.