US 7,769,429 B2Granted

Method and device for impingement detection

AssigneeAo Technology AG

InventorQingmao Hu

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Abstract

Determining impingement between first and second bodies by determining a spatial relationship between surface points of the first body and markers of a first reference element; determining a spatial relationship between surface points of the second body and markers of a second reference element; displacing the first and second bodies relative to the other body; determining 3D coordinates of the respective pluralities of markers; and using at least (1) the 3D coordinates of the respective pluralities of markers of the reference elements, (2) the determined relationship between surface points of the first body and markers of the first reference elements, and (3) the determined relationship between surface points of the second body and markers of the second reference elements, to determine whether a surface point of one of the first and second bodies coincides with a surface point of the other body.

A method of determining the presence of impingement between at least first and second bodies, comprising:

(a) for each of the first and second bodies, obtaining a respective set of data indicative of three-dimensional (3D) coordinates of points of a surface of the body;
(b) associating a first reference element with the first body and associating a second reference element with the second body, wherein each of the first and second references elements comprises a respective plurality of markers;
(c) determining a spatial relationship between (1) at least some of the points of the surface of the first body determined in step (a) obtaining and (2) the markers of the first reference element;
(d) determining a spatial relationship between (1) at least some of the points of the surface of the second body determined in step (a) and (2) the markers of the second reference element;
(e) displacing at least one of the first and second bodies relative to the other body;
(f) determining 3D coordinates of the markers of the first and second reference elements;
and
(g) using at least (1) the 3D coordinates of the markers of the first and second reference elements determined in step (f), (2) the spatial relationship determined in step (c), and (3) the spatial relationship determined in step (d), to determine whether a surface point of one of the first and second bodies coincides with a surface point of the other body,
wherein step (g) comprises (h) defining a transformation to calculate spatial indices for each surface point of the first and second bodies;
(i) forming up a lookup table, wherein the lookup table comprises an array of values, a first value representing a free spatial position and a second value representing an occupied spatial position and further wherein the entries to the lookup table are spatial indices determined using the transformation defined in step (h);
and (j) searching the lookup table to determine the presence of impingement.

8 more elements

Facts

Application

10/336,693Filed 6 Jan 2003 · continuation

Priority

6 Jul 2000

Published

US 2003/0176783 A118 Sep 2003

Granted

3 Aug 2010

Term ends

Not estimatedThe source records don’t support an estimate.

Classification29 codes

A61F 2/468
Special tools for implanting artificial joints: testing instruments for artificial joints
A61B 5/103
Measuring for diagnostic purposes ; Identification of persons: measuring devices for testing the shape, pattern, colour, size or movement of the…
A61B 5/4528
For evaluating or diagnosing the musculoskeletal system or teeth: joints
A61B 34/20
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical navigation systems; Devices for tracking or guiding…

Abstract

Claims16