DE20205007U1 - Device system for the automated measurement of navigated handpieces and tools - Google Patents

Description

Device system for automated calibration of navigated Handpieces and tools

The invention relates to a device system for the automated calibration of navigated handpieces and tools and is used, for example, for material removal or material processing in medicine or technology.

The device system is particularly suitable for computer and robot-assisted surgery, interstitial radiotherapy, interventional radiology and dentistry. Other areas of application include various material processing methods, for example in manufacturing technology.

For computer-assisted surgery, several systems are known for arranging and guiding medical instruments based on measured, calculated and signaled position and angle information. They are referred to as medical navigation systems.

Usually, previously known instruments and tools are used for which the position (position and orientation) of the tool effector (instrument tip or tool tip) relative to the reference point of the position measuring system is known.

There are systems that allow you to switch between different transition matrices for different instruments and systems that allow you to measure the transition matrix at the push of a button by touching a specific calibration point with the tool tip.

The navigation systems in the state of the art cannot use tools whose transition matrix is not known in advance. This limits the user to a set of tools from the company. The user is not able to easily calibrate a new tool. The calibration is possible with at least

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at least one button press. If the tools of an instrument such as a handpiece are changed, there is a high risk of using an unregistered tool. This can lead to injury to the patient because the position and angle information is incorrect, which cannot be recognized.

The object of the invention is to avoid the known disadvantages of the prior art and to develop a device system that allows the free use of different tools with one instrument without the user forgetting to register the tool.

This object is achieved by a device system according to the features of claim 1.

It is possible to work with registered tools without hindrance. Tools that change their geometry over time are calibrated again and again. All instruments are always calibrated. The calibration process is not perceived as a hindrance. No button needs to be pressed. Calibration does not require any machine interaction, just touching a point and waiting for a signal. It is no longer possible to forget to calibrate a tool. The safety and usability of medical navigation systems with changing tools increases significantly.

The invention will be described in more detail below with reference to embodiments shown at least in part in the figure.

Fig. 1 shows a handpiece 1 with a tool holder 2 and a clamped tool 3 for which the position (position and orientation) of the tool effector 4 is to be measured. Also visible is a carrier element 10 with registration point 5, reference coordinate system 9 and

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Calibration body 7, which is designed as a pin, and the working volume 6. The position measurement is carried out by the position measuring system 8, which also stores the transition matrices relative to a reference coordinate system 9.
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In the picture it is shown as an optical navigation system with passive reflectors.

After switching on the system, the user is signaled to calibrate the handpiece 1. To do this, he puts it on the fitting body. He can now clamp in a tool 3 (e.g. a drill). Before entering the working volume 6, he touches the registration point 5 with the tool tip and waits for the registration signal. He then works in the working volume 6 in an nimble manner. If he puts the instrument down outside the working volume 6, he must touch the registration point 5 again the next time he enters the working volume 6. The same applies to the situation after a tool change.

The invention is not limited to the embodiments shown here. Rather, it is possible to realize further embodiments by combining the means and features mentioned without departing from the scope of the invention.

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Reference oak list

1 handpiece

2 tool holder

3 Tools

4 Tool effector

5 Registration point

6 Working volume

7 Calibration bodies

8 Position measuring system

9 Reference coordinate system

10 Support element

Claims (5)

1. Device system for the automated calibration of navigated handpieces and tools for material removal or material processing by means of at least one effector using a navigation system and using computer technology, wherein a registration point ( 5 ) is arranged in the vicinity of the work area ( 6 ). 2. Device system according to claim 1, characterized in that the registration point ( 5 ) is arranged on a carrier element ( 10 ) which can be fastened to the working volume ( 6 ). 3. Device system according to claim 1, characterized in that a reference coordinate system ( 9 ) and/or a calibration body ( 7 ) is arranged on the carrier element ( 10 ). 4. Device system according to claim 1, characterized in that the working volume ( 6 ) is arranged in such a way that it is not left during the machining process with the effector ( 4 ), but is left for tool changing. 5. Device system according to claim 1, characterized in that the registration point ( 5 ) is arranged such that the effector ( 4 ) must pass the registration point ( 5 ) shortly before entering the working volume ( 6 ).