Surgical tool calibration
AssigneeClaronav Inc.
InventorsDoron Dekel, Arish Qazi
Life of this patent
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Abstract
A system and method of operating a surgical navigation system to determine the location of a point of interest (POI) in a 3D coordinate frame of a surgical tool (tool frame) using a calibrated imaging device to capture an image of a portion of the surgical tool's surface the calibrated imaging device having calibration data that enables a processor of the surgical navigation system to map from a 2D location in the image to a projection line in a 3D coordinate frame of the imaging device (image frame). The system is operated to determine a mapping between an image frame and a tool frame. The processor is operated to determine the location of the POI in the tool frame based on the image and the mapping between the image frame and the tool frame.
Claims22
A method of operating a surgical navigation system to determine the location of a point of interest (POI) in a 3D coordinate frame of a surgical tool (tool frame), the method comprising:
- a) using a calibrated imaging device to capture an image of a portion of the surgical tool's surface, the calibrated imaging device having calibration data that enables a processor of the surgical navigation system to map from a 2D location in the image to a light projection line in a 3D coordinate frame of the imaging device (image frame);
- b) operating the surgical navigation system to determine a mapping between the image frame and the tool frame;
- c) operating the processor of the surgical navigation system to determine the location of the POI in the tool frame based on the image and the mapping between the image frame and the tool frame.
A surgical navigation system comprising:
- a processor;
- a surgical tool having a point of interest (POI) in a 3D coordinate frame of the surgical tool (tool frame);
- a calibrated imaging device configured to capture an image of a portion of the surgical tool's surface, the calibrated imaging device having calibration data that enables the processor of the surgical navigation system to map from a 2D location in the image to a light projection line in a 3D coordinate frame of the imaging device (image frame),
- wherein the processor is configured to:
- i) determine a mapping between the image frame and the tool frame;
- and
- ii) determine the location of the POI in the tool frame based on the image and the mapping between the image frame and the tool frame.
Dependencies are inferred from the claim text.