EP1919389A2 - Dispositif pour mesurer et transmettre sans contact la position et/ou l'orientation d'un corps dans une salle - Google Patents

Dispositif pour mesurer et transmettre sans contact la position et/ou l'orientation d'un corps dans une salle

Info

Publication number
EP1919389A2
EP1919389A2 EP06754233A EP06754233A EP1919389A2 EP 1919389 A2 EP1919389 A2 EP 1919389A2 EP 06754233 A EP06754233 A EP 06754233A EP 06754233 A EP06754233 A EP 06754233A EP 1919389 A2 EP1919389 A2 EP 1919389A2
Authority
EP
European Patent Office
Prior art keywords
tracking system
patterns
mobile tracking
medical
bodies
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP06754233A
Other languages
German (de)
English (en)
Inventor
Bruno Knobel
Frank Bartl
Charles Findeisen
Erwin Keeve
Karl-Heinz Widmer
Christoph Hämmerle
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NAVISWISS AG
Original Assignee
IFE Industrielle Forschung und Entwicklung GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE102005026654A external-priority patent/DE102005026654A1/de
Application filed by IFE Industrielle Forschung und Entwicklung GmbH filed Critical IFE Industrielle Forschung und Entwicklung GmbH
Priority to EP10011069.1A priority Critical patent/EP2377484B1/fr
Publication of EP1919389A2 publication Critical patent/EP1919389A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
    • A61C1/08—Machine parts specially adapted for dentistry
    • A61C1/082—Positioning or guiding, e.g. of drills
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A61B2034/2057—Details of tracking cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound

Definitions

  • Device and method for the contactless determination and measurement of a spatial position and / or a spatial orientation of bodies methods for calibrating and testing in particular medical tools as well as patterns or structures on, in particular, medical tools
  • the invention relates both to a device and to a method for the contactless determination and measurement of a spatial position and / or a spatial orientation of bodies with a tracking system, by means of which the bodies are localized and related to one another.
  • the invention also relates to a method for calibrating in particular medical tools, medical workpieces and / or medical instruments and a method for testing, in particular, medical tools, medical workpieces and / or medical instruments with regard to existing deformations.
  • the invention relates to patterns on or structures on, in particular, medical tools, medical workpieces and / or medical instruments.
  • Devices and methods for contactless determination and measurement of a spatial position and / or a spatial orientation of bodies are known in particular in computer-assisted surgical interventions in the prior art.
  • This navigation systems are often used, which are based at least partially on optical tracking systems.
  • a spatial position that is to say, in particular the spatial position and / or the spatial orientation, is determined in real time by instruments equipped with locators, for example, and body parts using known mathematical methods.
  • published patent application DE 196 39 615 A1 discloses a neuronavigation system which has a reflector referencing system with passive reflectors and with a marker system comprising markers or landmarks.
  • the reflectors and the markers are provided on the parts of the body to be treated and on the surgical instruments, so that their localization by means of a computer / camera unit is easily possible.
  • the spatial positions or data for this can be displayed on a graphic screen output.
  • the computer / camera unit is set up stationary in relation to the body parts of a patient to be treated.
  • further data which were determined for example by a computed tomography, the patient anatomy of interest is more closely recorded.
  • reflectors or markers attached to the patient act by means of which the spatial position of the patient is detected.
  • spatial positions of surgical instruments used can be tracked with respect to the patient and, if necessary, corrected. That in the state of Technique described neuronavigation system allows a good and accurate guidance of the surgical instruments
  • a disadvantage is the relatively large-scale equipment complexity that may interfere during an operation This is especially true in spatially confined conditions
  • the object of the invention is achieved by a device for determining and measuring a spatial position and / or a spatial orientation of bodies with a tracking system by means of which the bodies are located and related to one another, in which the tracking system or at least components or component groups thereof are mobile
  • the term "stationary" in the present context describes a tracking system, which is stored stationary in particular during its use, which is therefore not moved during its use.
  • the use of the tracking system is here to be seen in the actual “tracking" of a body. It goes without saying However, such a repositioning is done not during the track but, if necessary, only before or after a tracking.
  • the tracking systems of the prior art especially during the track not mobile within the meaning of the present tracking system can be used
  • the present mobile tracking system differs significantly from known tracking systems
  • the term “tracking system” describes a device by means of which a body, in particular a medical tool, a medical workpiece, a medical instrument and / or a medical device are optically detected and a relative movement between them and another body can be tracked.
  • a body in particular a medical tool, a medical workpiece, a medical instrument and / or a medical device are optically detected and a relative movement between them and another body can be tracked.
  • tracking system belonging to the tracking system optics and sensors as well as a related apparatus design is detected, so that at least components or component groups of the tracking system, which include the optics or sensors, are mobile displaced with respect to the bodies to be tracked.
  • body covers in the sense of the patent application both general technical structures as well as special technical structures in the field of medicine, such as medical tools, medical workpieces, medical instruments, implants or other technical aids used in medicine for In addition, in the present case, body, body parts and body regions of living beings, in particular patients, are also covered by the generally used term "body”.
  • Body such as medical tools, medical workpieces, medical instruments, and / or implants may optionally be populated with interchangeable and / or adjustable inserts, and suitably combined with structures and locators.
  • the term "technical aids” refers in particular to aids which are used to determine a relative spatial position of bodies with respect to one another
  • Technical aids in connection with tracking systems in the field of medicine include, for example, locators, structures, landmarks and patterns bodies.
  • spatial position and "spatial orientation” in the sense of the present patent application, a spatial position of a body, for example in the coordinate system of the tracking system, and / or a relative spatial position of two bodies to each other described.
  • the object of the invention is also achieved by a method for contactless determination and measurement of a spatial position and / or a spatial orientation of bodies with a tracking system, by means of which the bodies are localized and related to each other, in which the mobile tracking system during its use is manually or automatically moved and displaced relative to a body.
  • the tracking system itself may be displaced relative to the bodies during its use, ie during the "tracking" of bodies, and may even be temporarily set aside, thus eliminating in the present case the drawbacks of known tracking systems mentioned above.
  • Both the device according to the invention and the method according to the invention are very well suited for further developing tracking systems and tracking methods in the field of medicine and to improve. It is understood, however, that the present device and the present method are not limited to the field of application of medicine, but can be used advantageously wherever a determination of spatial positions of at least two bodies is advantageous and / or necessary.
  • a preferred embodiment provides that the mobile tracking system is kept loose relative to the bodies during its operation or during its use.
  • a user for example a surgeon, can set aside the present tracking system if this is not required in a work phase. This makes the use of the tracking system very flexible.
  • the mobile tracking system is arranged and / or held displaceable in relation to the bodies during its operation or during its use.
  • the tracking system of the device can be used during a work time only locally and only when it is required. Otherwise, the tracking system is set aside.
  • a preferred embodiment provides that the mobile tracking system is arranged relative to the body without location.
  • the term "locationless” in this context describes a state that marks exactly the opposite of the meaning “stationary”.
  • the tracking system is advantageously not rigidly fixed to an entire work area or local work area. Rather, the mobile tracking system is displaced and moved even during an operation against the bodies to be detected.
  • a related method variant provides that the tracking system is performed manually during its use. In this case, for example, an operator can decide for himself where and when the tracking system is kept in front of a local work area.
  • the mobile tracking system is easy to use if it is kept in front of the local work areas to be detected during its use, especially by hand.
  • All known tracking systems always capture almost the entire work area with the required high measurement accuracy, which results in an enormous computational effort.
  • the computational effort for determining the spatial position and / or the spatial orientation of bodies is also advantageously reduced in the present case usual, the entire work area is covered by the present tracking system, but only the local work area, which is of immediate interest, for example, for the operational Ein ⁇ ff
  • phase-wise is used herein to mean that the mobile tracking system is not permanently located in front of a work area.
  • the mobile tracking system is held in front of a main entrance and after the main entrance in front of the local work area In this way, the mobile tracking system can be put aside in the meantime
  • the present tracking system for the measurement or the control advantageously only before and after certain steps are used for this purpose it is aligned in an advantageous position and Mess ⁇ chtung on the example equipped with locators or structures objects
  • the tracking system the spatial position of the objects as Capturing a snapshot relative to one another
  • the tracking system can also record the spatial position of the objects by means of a recording sequence in order to study, for example, the dynamic behavior of body parts before, during or after certain work steps.
  • This approach has the significant advantage over stationary systems, that no longer has the entire work volume the required accuracy must be constantly reviewed but only the actual local work area with the steps to be performed or carried out
  • Another advantage is that the position and the Mess ⁇ cht The tracking system can be optimally selected for every working task. Especially for objects or bodies that are located close to each other, it is advantageous that extremely handy tracking systems with small dimensions can be used
  • the mobile tracking system has a weight of less than 2 kg or less than 0.5 kg, preferably less than 0.1 kg By means of such a low weight, the mobile tracking system is easy to handle even with a longer use.
  • mobile tracking systems with a weight of less than 0.1 kg are particularly advantageously used in dental medicine and / or minimally invasive medicine.
  • the mobile tracking system has a triggering device for starting and executing a determination and a measurement.
  • the triggering device can be designed diverse.
  • the triggering device is in the form of a switch on the handle part.
  • the triggering device comprises a footswitch.
  • the mobile tracking system can be made even more compact, as can be dispensed with components or groups of components with respect to a switch directly on the mobile tracking system.
  • a further embodiment provides that the triggering device has means for voice control. This allows an operator to control the mobile tracking system very comfortable.
  • the mobile tracking system has a fastening device for arranging on a displaceable guide device, such as a manually displaceable holding arm and / or a robot arm.
  • a fastening device for arranging on a displaceable guide device, such as a manually displaceable holding arm and / or a robot arm.
  • the fastening device can also be designed such that it is suitable for arranging the mobile tracking system on an arm of an operator. It may be advantageous if the fastening device makes it possible to attach the mobile tracking system directly to the head or to another body part of a patient.
  • the mobile tracking system has means for calculating a displacement of the mobile tracking system relative to the body.
  • the calculation means are implemented as software. A software is particularly upbu poems.
  • the mobile tracking system has its own energy source.
  • the energy source is designed as a battery, accumulator or fuel cell.
  • the mobile tracking system In order for the mobile tracking system to visually perceive the body, it is advantageous if the mobile tracking system has a camera, preferably more than one camera.
  • the cameras have surface sensors. More than two area sensors significantly increase the measuring reliability.
  • a preferred embodiment advantageously provides locators, structures, patterns, and / or secondary patterns.
  • locators describes, in particular, a technical aid that can be arranged on another body.
  • the further body can be localized by means of a locator of the mobile tracking system.
  • the term "structure” describes a three-dimensional structure which has a pattern.
  • a structure in the present case also forms a body in the sense of the patent application.
  • the structure is designed as a flat plate, for example In some applications, it can be advantageous if the structure per se forms a body part of another body, for example, the structure is a partial area of a medical instrument.
  • the pattern is applied to the surface of the structure.
  • it can also be arranged on the structure in another way.
  • the shape of a texture pattern is already established in the manufacture of the structure.
  • a "pattern” is a structure which consists, for example, of straight or curved lines of different width and length, of circles, of ellipses, of triangles and of rectangles or of combinations thereof Surface of a Body, like a structure, applied. It is essential here that the pattern can be distinguished in a contrasting manner from a surface to which it is appropriate.
  • the pattern differs from a structure in that it is essentially a two-dimensional structure and not a three-dimensional structure.
  • the pattern as a structure such as a structure has a length and a width.
  • the thickness of the pattern is negligible relative to the thickness of a structure such that, in the present context, a pattern is a two-dimensional entity. In a pattern, for example, the thickness is reduced to a color layer applied to a structure.
  • a pattern may also consist of a combination of reflective, absorbing, fluorescent, phosphorescent or luminescent materials. These materials are particularly useful in conjunction with human visible light, infrared or ultraviolet light.
  • a subregion of a pattern can serve to increase an algorithmic efficiency of a mobile tracking system. If a pattern is applied to a structure, the pattern or a portion thereof can serve to identify the structure. In particular, it can be defined by means of the pattern whether a body which is further assigned to the structure is a medical instrument or a medical tool. The pattern thus provides essential information of bodies determined by means of the tracking system to the mobile tracking system.
  • the secondary patterns which exist can also be detected and measured by other imaging systems, such as a CT device or any other device for the three-dimensional detection of bones and teeth by means of X-rays.
  • a pattern of another imaging system can be determined and spatially resolved, this is referred to as a secondary pattern.
  • the secondary pattern is therefore preferably made of X-ray opaque and / or X-ray transparent materials.
  • Secondary patterns may also include materials that can be detected and measured by MRI systems.
  • secondary patterns consist of materials that can be detected and measured by imaging systems based on the terahertz spectral range.
  • the secondary patterns should consist of straight or curved lines of different widths and lengths, circles Ellipses, triangles and rectangles or combinations thereof, which must not be less than a critical layer thickness.
  • the locators, the structures, the patterns and / or the secondary patterns are arranged on a body, such as a tool, a workpiece and / or an instrument.
  • a body such as a tool, a workpiece and / or an instrument.
  • body parts such as bone / joint parts, of a person are provided with locators, structures, patterns and / or secondary patterns, these can also be recognized by the mobile tracking system.
  • a pattern for the mobile tracking system comprises recognizable and usable straight or curved lines of different widths and lengths, circles, ellipses, triangles and rectangles, or combinations thereof.
  • a pattern comprises non-light-reflecting means, light-reflecting means, fluorescent means, phosphorescent agents, and / or further self-illuminating means.
  • a variant embodiment provides that a secondary pattern is in a defined geometric reference to a pattern.
  • a secondary pattern is in a defined geometric reference to a pattern.
  • the secondary pattern of suitable materials is also recognized and measured by other imaging systems.
  • the secondary pattern can be detected and spatially resolved by the CT or other devices for three-dimensional detection of bones and teeth using X-radiation if the secondary pattern consists of the combination of X-ray opaque and X-ray transparent materials.
  • a structure has means for fixing to bodies.
  • the fixing means have support feet for fixing to bodies.
  • a structure comprises a flat plate.
  • a flat plate can be well provided with a pattern.
  • a related embodiment provides that a structure comprises a flat plate with a three-dimensionally structured surface.
  • Structurally particularly advantageous is when a structure forms part of a medical tool, a medical workpiece and / or a medical instrument. As a result, the structure can be advantageously integrated into a body.
  • the mobile tracking system has means for illuminating.
  • the illumination means may comprise bulbs for the hyperrotic area.
  • a body comprises deformable elements.
  • a body is versatile adjustable and can be adapted to existing conditions.
  • the bodies are registered by means of patterns located on and / or on the bodies and / or a secondary pattern, which are recognized by further imaging systems.
  • a further simplification results when the mobile tracking system is arranged on a body, in particular on a medical tool and / or on a medical instrument.
  • the mobile tracking system is temporarily fixed to a body part, such as a bone, of a patient.
  • the device comprises a mirror which has patterns and / or secondary patterns.
  • the patterns that are not immediately visible can be viewed, at least indirectly, for the mobile tracking system. Due to the fact that patterns and / or secondary patterns are also arranged on the mirror, the spatial position of the mirror can be determined in particular by means of the mobile tracking system. The spatial position of the mirror can then be used to determine the spatial position of the pattern which can be viewed using the mirror.
  • the object of the invention is also achieved by a method for calibrating in particular medical tools, medical workpieces and / or medical instruments, in which the medical tools, the medical workpieces and / or the medical instruments with patterns and / or are provided with structures comprising patterns, and the medical tools, the medical workpieces and / or the medical instruments are measured by means of the patterns and / or the structures. This significantly reduces the effort required to calibrate such bodies.
  • the patterns and / or the structures are determined by means of a tracking system, in particular a mobile tracking system, in order to measure the medical instruments.
  • the invention thus relates in particular to a calibration method with a device in which, in particular, the mobile tracking system measures the structure of the instruments or of the tools.
  • This has the significant advantage that the usual expensive calibration devices can be omitted or simplified.
  • the shape of the structure and the properties of the pattern are already defined during production. From the knowledge of the pattern so that the essential geometric conditions of the structure are known. Essential geometric conditions are, for example, diameter, length or radius. If, for example, the entire surface of the undeformed object is covered with a suitable pattern, from knowledge of the pattern, the geometrical shape of the object can be described sufficiently accurately with one measurement.
  • the instrument is rotated in the measuring volume or working area of the tracking system, so that all sides of the instrument are measured sequentially in the calibration mode.
  • the tracking system itself can be guided around the instrument.
  • the calibration mode further includes the recognition and evaluation of the structures, the determination of the geometry of the structure, the assignment of the structure with respect to the spatial shape of the instrument based on the identification and the spatial position of locators with respect to the structure or to the spatial shape of the instrument.
  • This calibration procedure for an instrument or tool can be repeated as needed. Since during the measurement of the object spatial positions before, during or after a single operation, typically both the structure (in whole or in part) and the locators are detected, the calibration can be checked continuously or periodically at the same time.
  • the tracking system includes appropriate algorithms to fulfill these tasks.
  • the object of the invention is also achieved by a method for testing in particular medical tools, medical workpieces and / or medical instruments with regard to existing deformations, in which by means of a mobile tracking system patterns on the medical tools, the medical workpieces and / or or on the medical instruments.
  • the mobile tracking system is capable of measuring and detecting deformed instruments, since the current structure deviates from the structure defined in the identification or the previously measured structure.
  • the deformation can occur unintentionally, for example, before the work or during a single operation.
  • the deformation can also be intentionally performed, for example to adapt the geometric shape of an instrument for a step.
  • the geometric shape of the deformed instrument can be determined with sufficient accuracy.
  • the mobile tracking system significantly aids the user in registering the individual bodies, which is a significant simplification of a traditional registration procedure.
  • the tracking system a structure and / or a pattern on the corresponding body part and on the other hand, the other imaging systems (C-arm, CT, MRI and / or other device for three-dimensional detection of bone and X-ray teeth) recognize the patient data and the secondary patterns and prepare them as spatial information.
  • the spatial position of the structure with respect to the patient data is known at all times.
  • the mobile tracking system preferably includes correspondingly optimized algorithms to fulfill this task. This has the further significant advantage that the tactile method for registration is ideally no longer required. Or the tactile method is optionally used for control purposes.
  • the object of the invention is also achieved by a method in which patterns and / or secondary patterns on at least one suitable tooth or on a template, which at least a suitable tooth or on a structure attached to a jaw, in which the relative spatial position and / or the relative spatial orientation of the patterns and / or the secondary patterns to each other are determined during a first measurement by means of the device explained herein.
  • the present invention is therefore also particularly advantageous in the field of dental medicine.
  • a surgeon receives a very accurate image of the operating area when a three-dimensional model is created by means of determined scan data and determined X-ray data as well as determined data of a mobile tracking system of the device.
  • At least the determined scan data and the determined x-ray data are transferred to a common coordinate system in order to create the model.
  • a preferred variant of the method provides that a configuration of an implant and / or a crown is determined by means of this model.
  • An intervention can be made particularly precisely if a relative spatial position and / or a relative spatial orientation of a drill, a drilling axis, a drilling depth and / or a piecing position is determined by means of this model.
  • tracking systems relating to the invention are particularly well suited to recognize locators and structures attached to the objects, to determine the spatial positions of the locators and structures and to determine therefrom the spatial positions of the objects.
  • the tracking system is capable of detecting all or part of the geometric shape of objects provided with suitable structures. Furthermore, it sets the geometric shape of the objects in relation to the locators attached to the object. [103] An object spatial position is determined either with the locators or with the structure. The determination of the object spatial position can also be done with the locators and the structure.
  • the present mobile tracking system may be directly attached to an object, such as a tool, instrument, or other body part. This has the significant advantage that the spatial position of this body is thus known without further measurement by means of the tracking system alone.
  • Another advantage is the fact that the number of required bodies in the work area is reduced.
  • only the tool equipped with the mobile tracking system which, for example, is oriented on a structure fastened to a body part, is in use.
  • the mobile tracking system is advantageously integrated in or on a working instrument, such as a drill.
  • the structures may in this case be mounted on a template and / or on teeth.
  • the templates receive a particularly secure hold when, for example, they are slipped over one or more teeth.
  • the mobile, lightweight, portable and handy trained tracking system can be used manually as needed for measurement. It can be used to measure the spatial positions of bodies before and after certain work steps. During the work steps, it can advantageously be set aside.
  • the tracking system can thus, as already mentioned, also be mounted on a robot, in particular on a robot arm, and only make measurements as needed.
  • the present mobile tracking system could at least temporarily also be mounted on a tripod for a long-term measurement of the object spatial positions in the work area.
  • Important characteristics of the mobile tracking system such as the measuring volume, the range of the measuring distances or the measuring accuracy, are defined among other things by the arrangement and characteristics of the cameras, the locators or the structures.
  • the measuring accuracy, the measuring volume and / or the range of the measuring distances substantially influence the geometry of the mobile tracking system and the arrangement and characteristics of the cameras.
  • Small measurement volumes and small ranges of measurement distances typically allow tracking systems that have small geometric dimensions.
  • large measurement volumes and large ranges of measurement distances typically result in geometrically larger tracking systems. For the same measuring accuracies and with the same camera technology, the effort for larger tracking systems is significantly higher than for smaller tracking systems.
  • a further advantage is that the manufacturing accuracy of the locators together with their attachment can be reduced since the position of the locators with respect to the structure is measured with the mobile tracking system.
  • the object of the invention is also achieved by a method in which on a body, such as on a workpiece, a first structure with patterns and / or a first locator and at least one further structure with patterns and / or at least one other Locator is arranged, in which by means of the device of the invention is determined during a first measurement, the relative spatial position and / or the relative spatial orientation of the structures with the patterns and / or locators to each other, in which subsequently the body is processed, in which during at least one further measurement, again a relative spatial position and / or a relative spatial orientation of the structures with the patterns and / or the locators with respect to one another are determined, and in which the determined spatial positions and / or the spatial orientations from the two measurements are compared with one another.
  • a body or partial areas of a body in particular with regard to a spatial position, can be compared particularly precisely before and after a work procedure.
  • a further variant of the method advantageously provides that the processed body is processed stepwise in such a way until the spatial position and / or the spatial orientation of the structures with the patterns and / or the locators from the first measurement with the spatial position and / or Spatial orientation of the structures with the patterns and / or the locators from the second measurement suitably match.
  • the spatial position and / or the spatial orientation are preferably determined solely on the basis of the existing patterns by means of the mobile tracking system.
  • the body or parts of the body can be readjusted to the initial state after a successful operation with the utmost precision.
  • a variant that is preferred in the medical field provides for an operator to machine a joint or another body part of a patient. If, for example, a part of a joint of a patient is replaced by a prosthesis or a bone is processed in such a way that an implant is inserted between two bone parts, it is advantageous if at least two structures with patterns suitable on the sides of the body are used before the start of the actual main procedure Joint are fixed and the relative spatial position of the structures to each other based on the pattern by means of the mobile tracking system is determined. Between the two structures, the surgeon replaces a joint part with a prosthesis. After the main intervention, the spatial position of the structures is determined again and compared with the previously determined spatial position. Thus, the surgeon immediately after the main intervention, the demonstrable certainty that the joint or parts thereof is or are again located in its original position or come very close to this initial position to a medically sufficient extent.
  • FIG. 1 shows schematically an arrangement of the device according to the invention with a mobile tracking system with a medical instrument, including a structure with a pattern in front of a body part with a further structure,
  • FIG. 2 shows schematically an exemplary embodiment of a first pattern
  • FIG. 3 schematically shows an embodiment of another pattern
  • FIG. 4 is a schematic of another exemplary example.
  • Figure 5 schematically an arrangement of a mobile tracking system and a medical
  • FIG. 6 schematically shows a view of a fastening technique of structures on hard body parts
  • FIG. 7 schematically shows a view of a funnel-shaped landmark with a cap fitted with patterns and magnetic materials
  • FIG. 8 shows a schematic arrangement of a further mobile tracking system and a medical instrument with attached locators, structures, patterns and a plastically deformable element
  • FIG. 9 schematically shows a view of an implant with plastically deformable elements and a pattern
  • FIG. 10 schematically shows an arrangement of a mobile tracking system, a body part with a structure and patterns and a mirror system
  • FIG. 11 schematically shows an arrangement of a mobile tracking system, a scanner and a body part with a structure attached thereto with patterns
  • FIG. 12 schematically shows an arrangement of a mobile tracking system, a projector and a body part with a structure attached thereto with patterns
  • FIG. 13 schematically shows an arrangement of a mobile tracking system, an ultrasound head and a body part with a structure with patterns arranged thereon,
  • FIG. 14 schematically shows an arrangement of a drilling and milling head, a device for the three-dimensional detection of bones and teeth by means of X-radiation and structures on a template and / or structures on teeth,
  • FIG. 15 schematically shows an arrangement of a mobile tracking system and two body parts equipped with structures.
  • the arrangement 1 shown in FIG. 1 comprises a mobile tracking system 2, a medical structure 3 and a bone 4 as a human body part.
  • the mobile tracking system 2 has a first camera 5 and a second camera 6.
  • the mobile tracking system 2 furthermore has a first illumination 7 and a second illumination 8.
  • the illuminations 7 and 8 have light emitting diodes (not shown here by way of example) which radiate in the infrared range.
  • light-emitting diodes which radiate, for example, in the hyperrotic region.
  • the tracking system 2 has a handle 9 on which in this embodiment a triggering device 10 is provided.
  • the type of measurement can also be selected.
  • three measurement types are available, namely a single measurement, a series of individual measurements and / or a film sequence.
  • the mobile tracking system 2 is also associated with an evaluation and display unit 11, which communicates with the mobile tracking system 2 by means of a communication link IA. From its size, the present mobile tracking system 2 is particularly light and therefore designed to be handy and portable.
  • the structure 3 has, on the one hand, a first pattern 12 and, on the other hand, a first locator 13. On the bone 4 are another structure 14 with a second pattern 15 and a bone locomotion. Tor 16 attached.
  • the structures 3 and 14 are three-dimensional structures on which the pattern 12 or the pattern 15 is applied.
  • the patterns 12 and 15 serve the mobile tracking system 2 for determining the spatial position of the structures 3 and 14. In particular, by means of the pattern 12, the mobile tracking system 2 can determine the geometry of the structure 3.
  • a local working area 17 is detected, which detects the structure 3 and a partial area of interest of the illustrated bone 4.
  • the mobile tracking system 2 is supplied with energy via the communication link I IA. It is understood that instead of the wired communication link I IA and a wireless connection between the mobile tracking system 2 and the evaluation and display unit 1 1 can be realized. In this case, the mobile tracking system 2 would have to include and carry with it its own energy supply, which could be realized for example by means of batteries or fuel cells.
  • Both the first locator 13 and the bone locator 16 are equipped with retro-reflective balls 18 in this embodiment.
  • the shape of the first structure 3 and the further structure 14 as well as the properties of the first pattern 12 and the second pattern 15 are already defined in the production of the structure 3 and the further structure 14.
  • the mobile tracking system 2 can thus recognize the properties of the first pattern 12 and the second pattern 15 exactly and unambiguously assign.
  • the surfaces of the structure 3 and the further structure 14 are at least dirt-repellent. As a result, measurement results of the mobile tracking system 2 less affected by contamination, such as blood spatter or contaminated air. A possibly required cleaning of the surfaces is also greatly simplified by the dirt-repellent surfaces.
  • the pattern 20 shown in FIG. 2 has a multiplicity of lines of different widths, circles, ellipses, triangles and rectangles for the mobile tracking system 2. Some subregions 21 of the pattern 20 serve in this case to increase the algorithm efficiency of the mobile tracking system 2. An optional subregion 22 of the pattern 20 serves to identify a structure assigned to the pattern 20. In particular, the relation of a structure to a medical instrument or to a medical tool is defined in the subarea 22.
  • the pattern 20 includes a plurality of lines 23 (numbered here only by way of example) with different widths.
  • the lines 23 advantageously have a sufficiently large width, such as in the present example four to ten pixels of a camera sensor used, so that a Sensor image of the pattern 20 and thus also structural geometries can be determined sufficiently accurately
  • the pattern 20 includes broad and thinner lines 23, so that the pattern 20 can always be seen well. If, for example, focal lengths of cameras are fixed and the distance between a body and a tracking system varies greatly during a working phase, it is advantageous if the pattern 20 preferably consists of lines 23 of different widths.
  • the wider lines of the pattern 20 are used primarily at large distances between a body and a mobile tracking system.
  • the thinner lines of the pattern 20, however, are used especially at smaller distances between a body and a mobile tracking system.
  • the arrangement 101 according to FIG. 5 shows a mobile tracking system 102 in the immediate vicinity of a medical instrument 130.
  • the mobile tracking system 102 has three cameras 105 (numbered here only by way of example).
  • the medical instrument 130 is formed as an insert for arranging in a structure 103.
  • the insert is inserted into the structure 103 in the present case.
  • the medical instrument 130 has an instrument tip 131.
  • the medical instrument 130 together with the instrument tip 131 has an instrument pattern 132.
  • the instrument structure 103 has an instrument structure pattern 112.
  • An instrument structure locator 113 is attached to the instrument structure 103.
  • the instrument structure locator 1 13 comprises, in addition to retro-reflecting balls 118, a fastening foot 133, by means of which the instrument structure locator 113 is fastened to the instrument structure 103.
  • the medical instrument 130 has an instrument locator 135 at its instrument end 134 opposite the instrument tip 131.
  • the medical instrument 130 shown here in FIG. 5 is an example of a body in the form of a medical instrument 130, which is equipped with a plurality of patterns 112, 132 and locators 113, 135.
  • the mobile tracking system 102 can uniquely determine the geometries of the medical instrument 130 based on the different patterns 1 12, 132. In addition, the mobile tracking system 102 determines the locator positions with respect to the patterns 112, 132 on the medical instrument. This has the advantage that with the measurement of the locators 113, 135 also, for example, the position of the instrument tip 131 is known.
  • a structure 203 with a pattern 212 is attached to the bone part 240 shown in FIG.
  • the structure 203 in this exemplary embodiment comprises a first support 241, a second support 242 and a third support 243.
  • the structure 240 has a screw 244, so that the structure 203 is screwed to the bone part 240 and fixed particularly stably to the bone part 240.
  • the structure 203 is formed as a two-dimensional plate on which the pattern 212 is applied.
  • the landmark 350 shown in FIG. 7 is adhered to a skin 351 of a patient.
  • the landmark 350 has a funnel-shaped indentation 352.
  • a structure 303 is inserted into the funnel-shaped indentation 352 of the landmark 350.
  • the structure 303 has a pattern 312.
  • the attachment of the structure 303 to the landmark 350 is effected by means of a magnet 353.
  • the magnet 353 of the structure 302 cooperates with a ferromagnetic material 354 of the landmark 350.
  • a surgical drape 355 is clamped.
  • the medical instrument 430 shown in FIG. 8 comprises an instrument insert 460 which has a plastically deformable element 461 between an instrument tip 431 and an instrument end 434. Except for the plastically deformable element 461, the complete instrument insert 460 is provided with an instrument pattern 432.
  • an instrument locator 435 is provided at instrument end 434.
  • an instrument structure locator 413 is attached to the medical instrument 430. Both the instrument locator 435 and the instrument structure locator 413 have retro-reflective spheres 418 (numbered here only by way of example).
  • the implant 565 shown in FIG. 9 comprises a first deformable element 561 A and a second deformable element 56 IB.
  • the implant 565 is thereby subdivided into a first subregion 566, a second subregion 567 and a third subregion 568.
  • the individual subregions 566, 567 and 568 are thus relatively displaceable relative to one another.
  • the entire implant 565 is coated with a pattern 520.
  • the implant 565 can now be deformed and measured by a mobile tracking system until it finally reaches a desired shape.
  • the implant 565 can then be attached by means of fastening screws (not shown here) to another body part (not shown here).
  • a structure 603 having a pattern 612 disposed thereon and a bone locator 616 having retro-reflecting balls 618 are attached.
  • the bone part 640, the structure 603 and the bone locator 616 are measured by means of a mobile tracking system 602, which is equipped with cameras 605 (numbered here only by way of example).
  • a mirror 670 is arranged opposite the pattern 612.
  • the mobile tracking system 602 may see and capture the pattern 612 on the structure 603 via the mirror 670.
  • the mirror 670 comprises for its identification, on the one hand, a marked edge region 671 and, on the other hand, an identifier 672 and further patterns 620 (numbered here only by way of example).
  • a bone structure 714 with a pattern 715 is attached to the bone part 740 shown in FIG. 11.
  • a mobile tracking system 702 with three cameras 705 (numbered here only as an example).
  • a hand-held optical scanner 775 which measures the surface topology of the bone portion 740 with a light beam 776.
  • the orientation and location of the optical scanner 775 and the bone structure 714 is measured by the tracking system 702.
  • the optical scanner 775 has three active LEDs 777 (numbered here only as an example).
  • the surface topology of the bone part 740 measured by the optical scanner 765 is additionally referenced using already existing CT or MRI images.
  • a bone structure 814 with a pattern 815 and with a secondary pattern 883 is attached to the bone part 840 shown in FIG.
  • the secondary pattern 883 can be detected in this embodiment by a CT (not shown here), so that the spatial position of the secondary pattern 883 with respect to the bone part 840 is known on the basis of the data obtained with the CT.
  • a mobile tracking system 802 with three cameras 805 (numbered here only by way of example) is held.
  • a projector 880 is held, which projects a plurality of spatially defined light rays 881 (numbered here only by way of example) onto the bone part 840.
  • the projector 880 comprises three active LEDs 877 (numbered here only as an example) in order to be able to be detected precisely by the mobile tracking system 802 with respect to its spatial position.
  • the additionally illuminated areas of the bone part 840 by the light beams 881 are measured by the mobile tracking system 802 and calculated as spatial positions.
  • the resulting surface tol- ogy of the bone part 840 can be referenced with CT or MRI images.
  • a bone structure 914 with a pattern 915 and with a secondary pattern 983 is attached to the bone part 940 shown in FIG.
  • a mobile tracking system 902 with three cameras 905 (numbered here only by way of example) is held.
  • the pattern 915 and the secondary pattern 983 can be determined.
  • the secondary pattern 983 may also be detected by other rendering devices (not shown), such as a CT or MRI device.
  • An ultrasound measuring head 985 is guided on the bone part 940, which measures the bone part 940 by means of a sound lobe 986.
  • the ultrasound measuring head 985 in this case comprises three active LEDs 977 (numbered here only as an example) in order to be detected by the mobile tracking system 902.
  • the bone surface measured by the ultrasonic measuring head 985 and the bone structure are referenced in the present case with respect to CT or MRI images.
  • the mobile tracking system 1002 shown in FIG. 14 is fixed on a medical tool 1090, which in the present case is a drill with a drill bit 1090A. It is particularly advantageous in this embodiment that the mobile tracking system 1002 is a particularly small and lightweight design, so that it can be easily fixed on the tool 1090.
  • the mobile tracking system 1002 comprises a first light, small camera 1005 and a second light, small camera 1006, each of which has an optical aperture angle 1091 (numbered here only by way of example).
  • Measured measurement data are routed via a communication link 101 IA to an evaluation and display unit 1011.
  • the communication link 101 IA includes in this embodiment For example, the power supply (not shown here) of the tool 1090 and a water supply (not shown here) for flushing a local work area 1017 on the tool 1090.
  • An alternative embodiment variant may provide that the optics (not explicitly shown here) of the cameras 1005, 1006 are attached directly to the tool 1090 and the remaining components of the cameras 1005, 1006, such as an area sensor (not shown here), in the Evaluation and display unit 101 1 are housed.
  • the communication link 101 IA which in the present case consists of a bundle of optical fibers, the cameras 1005, 1006 are optically connected to the area sensors.
  • the present mobile tracking system 1002 views a jaw area 1092 during an intervention.
  • Both a first illumination 1007 and a second illumination 1008 in the present case ensure sufficient illumination of structures 1003 (numbered here only as an example) with patterns 1012 arranged thereon (numbered here only as an example) and with secondary patterns 1083 arranged thereon (here only as an example) , further of teeth 1093 (here only exemplified), which are arranged in the jaw area 1092.
  • the structures 1003 are fixed to suitable teeth 1093 in this exemplary embodiment. Thus, a secure hold of the structures 1003 on the teeth 1093 is ensured.
  • the mobile tracking system 1002 orients itself based on the structures 1003 temporarily mounted on some suitable teeth 1093, which have corresponding patterns 1012.
  • a pre-procedure 1094 template with 1094A template patterns attached may be used.
  • the template 1094 is then fixed to individual teeth 1093 of a lower jaw 1095 or an upper jaw (not shown here).
  • the template 1094 has an attachment position 1096 for the medical tool 1090.
  • the structures 1003 must be anchored directly in the jawbone 1095 (shown here only as an example of the lower jawbone).
  • the tool 1090 is mechanically coupled to a calibrator (not shown) with attached structures 1003 in a defined manner.
  • the mobile tracking system 1002 determines from these structures 1003 its relative spatial position relative to the calibration device and from there the Geometry of the tool 1090 with the optional insert 1090A.
  • the position of a drill tip 1090B and the orientation of the drill axis 1090C with respect to the mobile tracking system 1002 are known.
  • the attachment position 1096 of the drill 1090 A, the drilling axis 1090 C and a drilling depth are advantageously obtained from further patient data.
  • a corresponding method will be explained in more detail below by way of example.
  • the patterns 1012 and the X-ray opaque secondary patterns 1083 provided here are fixed to some teeth 1093.
  • These structures 1003 may be templates 1094 or structures 1003 applied directly to individual suitable teeth 1093.
  • the patterns 1012 and secondary patterns 1083 may also be printed directly on teeth 1093.
  • X-rays detect three-dimensional structures of bones 1095, teeth 1093 or the course of nerve tracts as well as the secondary patterns 1083.
  • optical scanning surfaces
  • X-ray measurement jaw and tooth structure
  • a coordinate system of the mobile tracking system by detecting the pattern 1012, the position of the jawbone 1095, the teeth 1093 and the soft tissue surfaces are known.
  • the implant is ideally prefabricated in stock.
  • the crown is then advantageously supported by suitable means in the same operating room from semifinished CAD / CAM manufactured. In this case, no required for the present state of the art footprint for the crown production must be generated.
  • a higher-level software for navigation with the mobile tracking system 1002 determines the attachment position 1096 of the drill 1090A, the drilling axis 1090C and the drilling depth in the coordinate system of the mobile tracking system 1002.
  • the mobile tracking system 1002 permanently provides the spatial position, for example, of the drill 1090A relative to the jaw anatomy. This information can be made available for example by means of acoustic and / or optical signals. The surgeon can use this information throughout the drilling process. Alternatively, it can only be used during a critical phase, such as at the beginning and / or end of the procedure.
  • the implant can be screwed into the prepared hole immediately after drilling. Subsequently, the now completed crown is fixed on or to the implant and supplies the surgical site further.
  • the method is advantageously designed such that the optical scanning, the fixation of the structures 1003 with the patterns 1012, 1083, the three-dimensional detection of bone 1095 and teeth 1093 by means of X-radiation, the creation of the model of the body part, the optimal configuration of the implant and the crown, the production of the crown, which can be done using the mobile tracking system 1003 controlled drilled hole in the jaw 1095, placing the implant and fixing the crown in one session.
  • the mobile tracking system 1102 shown in FIG. 15 is preferably used in minimally invasive surgical techniques.
  • minimally invasive surgical techniques the local surgical area 1117 is exposed with a small opening 1200.
  • the surgeon uses the mobile tracking system 1102 locally and as needed. This means that the mobile tracking system 1102 is used before and after certain work steps. This is advantageous because it is put away from the operating area 1 117 when not in use If necessary, the mobile tracking system 1102 can also be used in the critical phase during one work step
  • a typical procedure of a minimally invasive surgery in which registration is not required may proceed as follows. Small opening 1200 is exposed. Next, structures 1103 (numbered here only as an example) with their patterns 1112 are suitably attached to articular bones 1104 Now, the relative spatial position of the structures 1103 is measured with respect to a starting position. Then the actual surgical intervention takes place with a possible assembly of auxiliary implants (not shown here). Furthermore, the definitive implant (not shown here) is used and a new measurement and evaluation of the Finally, all structures 1103 are removed
  • the tracking system 1102 described here is ergonomically very well designed. In addition, it is provided inexpensively. By means of the structures used here, further use of mostly quite bulky locators is advantageously not necessary

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Abstract

L'invention vise à perfectionner des systèmes de suivi, notamment pour le domaine médical. A cet effet, l'invention concerne un dispositif pour déterminer et mesurer sans contact une position et/ou une orientation d'éléments dans l'espace au moyen d'un système de suivi qui permet de localiser les éléments et de les mettre en relation mutuelle. L'invention est caractérisée en ce que le système de suivi ou au moins des éléments ou des groupes d'éléments de celui-ci peuvent être utilisés de manière mobile.
EP06754233A 2005-06-09 2006-06-08 Dispositif pour mesurer et transmettre sans contact la position et/ou l'orientation d'un corps dans une salle Withdrawn EP1919389A2 (fr)

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EP10011069.1A EP2377484B1 (fr) 2005-06-09 2006-06-08 Dispositif et procédé d'établissement et de mesure sans contact d'une positon spatiale et/ou d'une orientation spatiale de corps

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DE102005026654A DE102005026654A1 (de) 2005-06-09 2005-06-09 Vorrichtung und Verfahren zur berührungslosen Vermessung der Geometrie, Raumposition und Raumorientierung von Körpern
DE102005056897 2005-11-28
DE102005057237 2005-11-29
DE102005062384 2005-12-23
PCT/EP2006/005498 WO2006131373A2 (fr) 2005-06-09 2006-06-08 Procede et dispositif pour determiner et mesurer sans contact une position et/ou une orientation d'elements dans l'espace, procede pour calibrer et controler des outils notamment medicaux et modeles ou structures sur des outils notamment medicaux

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EP06754233A Withdrawn EP1919389A2 (fr) 2005-06-09 2006-06-08 Dispositif pour mesurer et transmettre sans contact la position et/ou l'orientation d'un corps dans une salle

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EP2377484B1 (fr) 2015-08-19
EP2377484A1 (fr) 2011-10-19
US8320612B2 (en) 2012-11-27
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JP5741885B2 (ja) 2015-07-01
US20090068620A1 (en) 2009-03-12
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DE112006001514A5 (de) 2008-06-05
CA2611404A1 (fr) 2006-12-14

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