WO2012152264A1 - Dispositif et procédé pour la détermination de la position relative et de l'orientation d'objets - Google Patents

Dispositif et procédé pour la détermination de la position relative et de l'orientation d'objets Download PDF

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Publication number
WO2012152264A1
WO2012152264A1 PCT/DE2012/100109 DE2012100109W WO2012152264A1 WO 2012152264 A1 WO2012152264 A1 WO 2012152264A1 DE 2012100109 W DE2012100109 W DE 2012100109W WO 2012152264 A1 WO2012152264 A1 WO 2012152264A1
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WO
WIPO (PCT)
Prior art keywords
sensor
module
relative
sensor module
orientation
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PCT/DE2012/100109
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German (de)
English (en)
Inventor
Christian MACKE
Emmanouil LIODAKIS
Henning Schumann
Christian Krettek
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Medizinische Hochschule Hannover
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Publication of WO2012152264A1 publication Critical patent/WO2012152264A1/fr

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Classifications

    • 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
    • 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
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • 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
    • A61B2034/2065—Tracking using image or pattern recognition

Definitions

  • the invention relates to a device and a method for determining the relative position and the relative orientation of two relatively movable in the surgical environment objects, for example, bone segments, each other by means of a sensor module having an optical sensor.
  • Fractures such as leg fractures, are a frequent cause of surgical intervention and hospitalization. However, in a small percentage of cases, the bone does not heal in the anatomically correct position, resulting in axial misalignments and leg length shortenings that require later surgical correction.
  • the proximal and distal parts of the fracture are separated and connected to a plate in the correct orientation.
  • CAS Computer Assisted Surgery Systems
  • WO 2009/1 17832 A1 discloses such a CAS system which has at least two sensor modules connected in each case to a bone segment, by means of which acceleration measurement values for position determination are detected. A computer unit receives the thus detected data of the position determination and calculates the relative position of the two sensor modules.
  • DE 10 2004 057 933 A1 relates to a method and a device for navigating and positioning an object relative to a patient during a medical operation in the operating theater.
  • a three-dimensional inertial sensor system by means of a three-dimensional inertial sensor system, the position and the orientation in the space of both the object and the patient or a relevant region of the patient relative to a referencing reference system are determined quasi-continuously in accordance with a sampling rate. From this, the instantaneous position and orientation of the object relative to the patient are determined and it is indicated how the article has to be changed in position in order to reach the desired predetermined position and orientation.
  • the first and in particular also the second sensor device preferably have, on the one hand, three acceleration sensors whose signals can be used to calculate a translatory movement and, on the other hand, three rotation rate sensors whose measured values can be used to determine the orientation in space.
  • US 2005/0197569 A1 describes a patient-fixable navigation sensor for use in computer-aided surgery with at least two optical tracking cameras for detecting the surgical reference points.
  • the problem of interrupting the visual contact in the position detection by means of only one optical sensor is to be reduced.
  • WO 2010/005788 A2 already discloses a device for determining the position of an implanted medical device in a patient by means of a sensor for acceleration signals in three orthogonal directions.
  • the device comprises a magnetic sensor which senses a different magnetic field exerted on the magnetic sensor by an external magnet which is displaced along a medial-lateral axis.
  • an orthogonal conversion calculation of the Y-axis and the Z-axis is performed to determine the position of the X-axis.
  • US 2008/0081982 A1 describes an instrument that can be inserted into the brain and is connected to electrodes to interrogate the electrical activity of the brain.
  • a position sensor transmits a position signal of the instrument.
  • a control unit captures the position of the instrument with respect to an image of the brain and electrophysiological information.
  • US 5,592,401 A relates to the detection of rapid movements of a person associated with athletics, music and other fast actions through a combination of accurate sensors providing a delayed signal and faster sensors subject to inaccuracies. By using a combination of such sensors, accurate, reliable position information should become available quickly.
  • WO 2004/001569 A2 nor a navigation device for a medical instrument is known, which by means of a control device recorded by a position measuring device coordinates of an operator, the instrument or the body in an instruction for the surgeon who leads the instrument manually, converts and activates the signal generator.
  • DE 10 2004 061 764 A1 relates to a method and a device for obtaining spatial 3D position measurement data by means of an electro-optical position measuring system and one or more reference sensor elements in conjunction with one or more inertial sensors, for example for position measurement of the patient in navigated or mechatronic assisted surgical procedures.
  • US 6, 61 1, 141 B1 describes a system for determining the position and orientation of at least one movable body in three-dimensional space, comprising a plurality of electromagnetic energy sensors in known spatial relationship with a three-dimensional volume.
  • US 2010/006991 1 A1 relates to a method for joint replacement by means of a measuring system and US 2010/0137871 A1 to a system and a method for use in hip surgery for detecting the orientation, while the US 2010/0028865 A1 with a method for the identification of regulatory T cells.
  • the object of the invention is to provide a device and a method for determining the relative position or orientation of objects with high accuracy so that the device can be implemented quickly and easily and is ready for immediate use without lengthy preparatory measures. In particular, restrictions due to unwanted visual obstructions of the sensor modules should be largely avoided.
  • the first object is achieved with a device according to the features of claim 1.
  • the further embodiment of the invention can be found in the dependent claims.
  • a device which, for detecting the relative position and the relative orientation of the sensor modules relative to each other, a sensor module with an optical sensor for performing an optical measuring method and at least one sensor module with a position sensor for detecting the orientation of the fixed to the respective object Sensor module relative to the effective direction of the gravitational acceleration has.
  • the orientation of the reference planes of the sensor modules fixed to the respective object which may for example lie parallel to a contact plane with the object, is determined in a surprisingly simple manner by means of at least one position sensor.
  • This relative orientation can be carried out without any visual contact and without a prior registration of reference points with high accuracy.
  • the deviation of the freely determinable reference plane is determined by a horizontal plane.
  • a possible angular deviation within the horizontal plane, in particular therefore an angular difference related to the effective direction of gravity as a vertical axis, is detected in contrast in a simple manner by an optical sensor.
  • the visual contact required for this purpose is limited in a simple variant of the invention solely to the line of sight between the sensor modules fixed to the object, so that a possible restriction of movement or obstruction of the surgeon is restricted to a minimum.
  • all six degrees of freedom are thus taken into account in a simple manner, whereby the risk of operating errors is extremely low and error effects due to the operating environment or due to the materials used are largely excluded.
  • the sensor modules are in each case connected to a proximal or a distal bone segment in the case of a fracture.
  • the position sensor has at least one acceleration sensor, an electronic spirit level, a three-axis accelerometer and a mercury switch so as to determine the angular position relative to the vertical in a simple manner.
  • the position sensor has at least one acceleration sensor, an electronic spirit level, a three-axis accelerometer and a mercury switch so as to determine the angular position relative to the vertical in a simple manner.
  • a redundant configuration of the sensor modules with a plurality of position sensors can be implemented and may also be useful for increasing the reliability.
  • the detection of the relative position and orientation of the objects can already be realized by only two sensor modules equipped with position sensors, of which only one sensor module must have an optical sensor.
  • a modification of the present invention in which a sensor module is equipped with an optical sensor for detecting at least two further sensor modules, is particularly expedient.
  • the relative position is not determined directly between the sensor modules connected to the respective object, but rather a sensor module called a topview module detects the remaining sensor modules.
  • This arrangement has already proven to be particularly useful in clinical practice, if a visual contact between the sensor modules connected to the respective object is not feasible or only to a limited extent.
  • a sensor module arranged above the operating area permits reliable detection of the remaining sensor modules under the circumstances occurring.
  • the detected sensor signals can be processed by a control unit in a desired manner, linked with existing information and displayed accordingly.
  • the apparatus has means for generating a signal in accordance with a match and a relative deviation of the objects.
  • such means may merely represent the agreement or deviation or may suitably show the amount and direction of the deviation.
  • displays in the field of vision of the surgeon are suitable for this purpose.
  • a particularly simple embodiment of the device according to the invention is achieved in that the sensor modules which can be fixed to the respective object have a marking which can be detected for determining the relative angular position of the sensor module by means of the optical sensor of another sensor module.
  • the angular position is detected in a simple manner by a marking, for example a line in a contrasting color.
  • the marking can be realized in a simple manner by a coordinate system or by other, not point-symmetrical graphical representations.
  • the sensor modules which can be fixed to the respective object have a light source for emitting light, which is used to determine the relative angular position of the sensor module by means of the optical sensor Sensor of another sensor module is detected.
  • the light emitted by the light source exits at a reference point of the sensor module and thus enables the determination of the relative angular position of the sensor modules.
  • the light source can emit both in the visible and invisible light spectrum.
  • the light can emerge simultaneously or alternately from two different reference points of the sensor module, so as to facilitate the angle detection.
  • Each sensor module is basically suitable for fixing to different objects by means of optionally different fixing means.
  • at least one sensor module has a fixation means for temporary fixation on a bone segment so as to enable in a simple manner the desired detection of the relative position and orientation of two bone segments with reproducible accuracy, in particular according to the operation planning provided for this purpose.
  • the sensor modules have at least one infrared light source, a sensitive in the wavelength range of the radiated IR light sensor as IR camera and a three-axis accelerometer.
  • a particularly practical arrangement of the device results, in particular, from the fact that the respective sensor modules which can be fixed to a bone segment as a reference module or goniometer module and at least one further sensor module as a topview module can be fixed in a stationary manner to an adjustable holding means of the device above the surgical field.
  • the orientation of the reference plane of the sensor module determined by means of the position sensor is taken into account as a correction variable in the evaluation of the relative orientation of the two sensor modules detected by means of the optical sensor of a further sensor module.
  • a distortion of the image signal detected by means of the optical sensor due to the non-parallel arrangement of the respective reference planes of the sensor modules is taken into account in the calculation of the relative orientation and optionally compensated by a correction value.
  • error influences due to a possible distortion of the image signal due to the reference line inclined with respect to the reference surface are avoided.
  • each sensor module can be equipped with a position sensor and an optical sensor, so that all sensor modules of the device have an overarching design. At the same time, additional sensor modules can be added to substantially expand the range of use of the device. In addition to or at the same time as determining the relative position and orientation of two bone segments, the position of instruments and devices in the surgical environment could also be detected by the device.
  • the object according to the invention is furthermore also achieved with a method for determining the relative position and the relative orientation of two objects which are movable relative to one another in the operating environment, for example bone segments, by means of a sensor module having an optical sensor by at least one sensor module being fixed to the objects in each case, wherein the relative position and the relative orientation of the sensor modules are detected by an optical measuring method by means of the optical sensor and additionally the orientation of the sensor modules fixed to the respective object relative to the effective direction of the gravitational acceleration by means of respective position sensors of the sensor module.
  • the invention is based on the recognition that the deviation of the reference plane of each sensor module connected to the respective object can be performed quickly and precisely by a plurality of position sensors integrated in the sensor modules.
  • the two reference planes can therefore be easily brought into a parallel position without further knowledge.
  • An additional optical sensor then also determines the relative orientation of the sensor modules within the same plane in a simple manner, for example by bringing a light beam of one sensor module defining an axis into agreement with the reception axis of a second sensor module.
  • the relative angular position relative to a horizontal plane which can not be detected by the position sensors, can be determined by an optical measuring method, for example by means of markings, which are detected by an optical sensor.
  • a three-dimensional coordinate system is formed in which the Z axis follows the direction of gravity and the zero point on the upper side of the sensor module is determined by the center of the distance between the light sources attached to the ends of the sensor module.
  • the measuring principle is based on the determination of the relative position of the sensor modules fixed to the object in the XY plane via geometric calculations from the signals of the optical measuring method and additionally the calculation of the deviation. Stands in the Z-plane from the determined by the position sensors tilt angles of the sensor modules.
  • the invention preferably serves the correct assignment of bone segments, this can also be useful in the clinical environment to capture the position and orientation of almost any objects relative to each other and, if necessary, to reproduce this position and orientation.
  • a mobile X-ray device for example, can be brought into exactly the same position during a subsequent examination in order to ensure the comparability of the images.
  • the relative position and orientation of various surgical aids, examination devices, instruments or even couches, operating tables or the like can thus be ensured and stored in a simple manner for documentation purposes.
  • FIG. 1 shows a sensor module of the device according to the invention
  • Fig. 3 is a coordinate system used in the method
  • FIG. 4 shows the sensor modules shown in FIG. 2 in a representation of the XY plane
  • FIG. 5 shows the sensor modules shown in FIG. 2 in a representation of the Z-X plane
  • FIG. 6 shows a distance measurement of the sensor modules in the XY plane
  • FIG. 7 shows a distance measurement by means of the further sensor module shown in FIG. 2;
  • FIG. 9 shows an angle measurement of the sensor modules in the XY plane.
  • the device according to the invention and the individual method steps for carrying out the measuring method for determining the relative position and the relative orientation of two objects which are movable relative to one another in the operating environment will be explained in more detail below with reference to FIGS.
  • the spatial distance as well as the relative orientation can be determined as the angular position of several objects not shown. These objects may also be medical devices or instruments in addition to bone segments in view of their preferred use.
  • three sensor modules 1, 2, 3 are used here by way of example in order to transmit the acquired measured values as signals of a control unit (not shown) and to further process them in a central unit by means of a control program.
  • the signal transmission can take place by means of wireless data transmission, for example by means of a Bluetooth interface, or else by cable.
  • each of the sensor modules 1, 2, 3 comprises a position sensor 4 with a three-axis accelerometer and an optical sensor 5 with an infrared camera with a resolution of 1024 ⁇ 768 pixels on one end face.
  • the sensor module 1, 2, 3 each have two light sources 6 configured as IR LEDs, on the one hand on an upper side 7, on the other hand on an end face 8 of the sensor module 1, 2, 3.
  • a Bluetooth module for transmitting signals the control unit.
  • the measuring principle will be explained in more detail with reference to an exemplary, schematic measurement structure with reference to FIG 2.
  • three identical sensor modules 1, 2, 3 are used, the respective measurement results are retrieved by the control unit and set by means of the evaluation software in relation to each other.
  • a first sensor module 1 which can be fixed on the object not shown, is referred to as a reference module and a second sensor module 2, which can be fixed on another object, likewise not shown, as a goniometer module.
  • Both sensor modules 1, 2 are detected by the sensor module 3 arranged spatially above these sensor modules 1, 2 and designated as the topview module.
  • the reference module and the goniometer module are temporarily fixed to one or the same bone segment and the topview module is separated by a distance of approx. one meter at the reference module and the goniometer module.
  • the reference module and the goniometer module are aligned with each other so that the optical sensor 5 of the goniometer module can detect the two light sources 6 on the end face 8 of the reference module. Based on the measured data of the three sensor modules 1, 2, 3 determined with this arrangement, the spatial distance and the mutual angular position of the reference module relative to the goniometer module are determined.
  • the position measurement is based on a three-dimensional (Cartesian) coordinate system in which the X-axis and the Y-axis lie in a horizontal plane and are perpendicular to one another.
  • the Z axis is at zero perpendicular to the XY plane parallel to the direction of gravity.
  • FIG. 4 shows a plan view of the reference module and the goniometer module with their respective light sources 6 on the upper side. This view corresponds to the camera image of the topview module shown in FIG.
  • the X-axis passes through the two light sources 6 of the reference module and intersects the Y-axis in the geometric center between the light sources 6, which thus also forms the reference point B of the coordinate system.
  • FIG. 5 shows a side view of the arrangement of the reference module and the goniometer module shown in FIG.
  • the zero point of the coordinate system lies on the upper side 7 of the reference module in the geometric center between the light sources 6 on the upper side 7 of the reference module, so that all axes pass through this reference point B.
  • the Z-axis passes vertically through the reference point B, while the orientation of the X-Y plane is horizontal.
  • ⁇ Angle C in the ZY plane is not limited to coordinate systems with vertical or horizontal axes. Rather, if necessary, an axis can be aligned parallel to a central longitudinal axis of a bone segment. For this only an additional coordinate transformation is required.
  • the distances in the direction of the X-axis and in the direction of the Y-axis are determined by an optical measuring method by means of the optical sensor of the topview module shown in FIG. 2, as shown in FIG.
  • the camera image of the topview module shows the view from above of the four light sources 6 of the reference module and the goniometer module.
  • the respective distance is determined in each case by the geometric center between the light sources 6. If, unlike the illustrated measuring arrangement, the reference module is not aligned horizontally in clinical practice, its inclination can be determined from the measured values of its position sensors. This makes it possible to calculate the distance in the direction of the X-axis and the Y-axis without distortion due to the distance of the light sources of the reference module.
  • the distance in the Z-axis direction between the reference module and the goniometer module may alternatively be determined in two different ways.
  • the distance in the direction of the Z axis is determined from the camera image of the topview module, as shown in FIG.
  • the image plane E of the optical sensor 5 of the topview module is computationally at a constant distance d in front of the optical sensor 5, the distance d being indicated in pixels, for example 1280 pixels.
  • the distance A of the light sources 6 on the upper side 7 of the reference module or the goniometer module is determined by the type and can be corrected by an arithmetic operation with an inclined arrangement of the reference module or the goniometer module by means of the respective position sensors 4.
  • the distance D between the topview module and the reference module or the goniometer module can be calculated from the distance a in the image plane E with the aid of the beam set
  • a and d are a number of pixels, and A and D are each a distance in mm.
  • the distance in the direction of the Z axis between the reference module and the goniometer module is obtained in a simple manner from the difference between the distances measured by the reference module and the goniometer module D R or D G.
  • the distance in the direction of the Z-axis can be determined by means of the position sensors 4 and the further light sources 4 on the end face 8 of the reference module or the goniometer module.
  • at least the goniometer module has an optical sensor 5 which detects the light sources 6 on the front side 8 of the reference module so as to determine the distance analogously to the method steps described above.
  • the distance of the reference module relative to the goniometer module in the direction of the Z axis is composed of three partial sections r, s and g, as can be seen in FIG.
  • the two partial sections r and g can be determined directly from the angles of inclination of the reference module and the goniometer module by means of the respective position sensors 4.
  • the distance s is calculated trigonometrically by the optical sensor of the goniometer module and the length of the distance R-G derived therefrom.
  • the determination of the relative angular position of the reference module with respect to the gonio module is explained in more detail below with reference to FIG.
  • the angle ⁇ corresponds to the included angle between the reference module and the goniometer module in the horizontal XY plane.
  • a connecting line between the light sources 6 on their upper sides is determined for the reference module and the goniometer module as a projection into the XY plane and the angle ⁇ between the reference module and the goniometer module is determined therefrom .
  • the remaining angles ⁇ and ⁇ of the reference module on the one hand and the goniometer module on the other hand are determined directly from the signals of the respective position sensors 4 for the Z-X plane and the Z-Y plane.
  • the relative angular position of the reference module with respect to the goniometer module results from the difference between the respective measured values of the reference module and the goniometer module.

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  • Biomedical Technology (AREA)
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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
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Abstract

L'invention concerne un dispositif et un procédé pour déterminer la position relative et l'orientation relative de deux objets mobiles l'un par rapport à l'autre dans un champ opératoire, par exemple des segments osseux, sur lesquels est disposé à chaque fois un module capteur (1, 2), de manière transitoire ou permanente. Chaque module capteur comprend un capteur de position doté d'un accéléromètre à trois axes ainsi qu'un capteur optique doté d'une caméra infrarouge sur une face frontale. De plus, chaque module capteur (1, 2, 3) est équipé de deux sources de lumière conçues sous forme de DEL à IR, d'une part sur une face supérieure, d'autre part sur une face frontale du module capteur (1, 2, 3). Les deux modules capteur (1, 2) sont captés par un module capteur (3), appelé module Topview, disposé dans l'espace au-dessus de ces modules capteurs (1, 2). Simultanément, les modules capteurs (1, 2, 3) sont orientés l'un par rapport à l'autre de manière telle que le capteur optique d'un module capteur (2) peut saisir les deux sources de lumière sur la face frontale de l'autre module capteur (1). Sur base des données de mesure déterminées grâce à cette disposition des trois modules capteurs (1, 2, 3), on détermine la distance dans l'espace et la position angulaire mutuelle des modules capteurs (1, 2, 3).
PCT/DE2012/100109 2011-05-10 2012-04-18 Dispositif et procédé pour la détermination de la position relative et de l'orientation d'objets WO2012152264A1 (fr)

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DE102011050240A DE102011050240A1 (de) 2011-05-10 2011-05-10 Vorrichtung und Verfahren zur Bestimmung der relativen Position und Orientierung von Objekten
DE102011050240.8 2011-05-10

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WO2016139638A1 (fr) * 2015-03-05 2016-09-09 Atracsys Sàrl Système de suivi de va-et-vient redondant
EP3181085A4 (fr) * 2014-08-13 2018-04-04 Koh Young Technology Inc. Système de suivi et procédé de suivi l'utilisant
CN114136306A (zh) * 2021-12-01 2022-03-04 浙江大学湖州研究院 一种可拓展的基于uwb和摄像头的相对定位的设备和方法
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