CN101267776A

CN101267776A - Device for contactless determination and measurement of main body position and/or orientation

Info

Publication number: CN101267776A
Application number: CNA2006800295660A
Authority: CN
Inventors: B·诺贝尔; F·巴特尔; C·芬戴森; E·基夫; K·-H·威德默; C·哈默尔
Original assignee: IFE IND FORSCHUNG und ENTWICKL
Current assignee: NAVISWISS AG
Priority date: 2005-06-09
Filing date: 2006-06-08
Publication date: 2008-09-17
Anticipated expiration: 2026-06-08
Also published as: CN101267776B; DE102005026654A1

Abstract

In order to develop known tracking systems, in particular in the medical field, the invention proposes a device for the contactless determination and measurement of a spatial position and/or spatial orientation of bodies using a tracking system, by means of which the bodies are located and brought into relation with one another, the tracking system, or at least components or modules thereof, being mobile.

Description

Be used for main body position and/or the aspect-stabilized device of contactlessly determining and measuring

[01] the present invention relates to a kind of tracing system of utilizing the locus of main body and/or spatial orientation are carried out equipment and the method contactlessly determining and measure, wherein main body can and be arranged to have certain relation each other by this tracing system location.The invention still further relates to a kind of calibration steps of (especially) medical instrument, medical apparatus and/or medical apparatus and instruments and in view of a kind of detection method of (especially) medical instrument, medical apparatus and/or the medical apparatus and instruments of existing distortion.In addition, the invention still further relates to the pattern or the structure of medical instrument, medical apparatus and/or medical apparatus and instruments.

[02] locus of main body and/or spatial orientation are carried out contactlessly determining and system and the method measured have been used for computer assisted surgery.Wherein need to be applied to the navigation system of small part ground based on the optical tracking system.In common tracing system, utilize known mathematical method to determine the locus in real time, especially be equipped with apparatus and the main part locus and/or the spatial orientation information of localizer.

[03] for example in disclosed patent application DE19639615A1, says and introduce neural navigation system, it comprises the reflector reference system, this reflector reference system has passive reflector and marker system, and this marker system comprises marker (Marker) or terrestrial reference (Landmarken).This reflector and marker are arranged on pending main part and the operating theater instruments, make that their location can no problem land productivity computer unit/camera unit.Relevant with it locus or data may be displayed in the graphic monitor.

[04] this computer unit/camera unit is fixed with respect to pending main part.By means of utilizing for example another definite data of computerized tomography imaging method, then can further determine patient's homologic anatomy feature.The reflector or the marker that are arranged on the patient can be supported these functions by the locus of determining the patient.Therefore and established data by, the locus of the operating theater instruments in the use can tracked and corrigendum (if necessary).The neural navigation system of Jie Shaoing makes well and the accurately guiding to operating theater instruments become possibility in the prior art.Shortcoming is to cause sizable apparatus consumption, and this is quite to perplex during operative treatment.This is obvious especially under limited situation.

[05] the objective of the invention is to, improve known tracing system, make their use simplify significantly.

[06] purpose of the present invention carries out contactlessly determining to the locus of main body and/or spatial orientation by tracing system and the equipment measured is realized, wherein main body can and be arranged to have certain relation each other by this tracing system location, and this tracing system or at least its part move.

[07] all present known tracing systems all are fixed and leave field of operation at a certain distance and be connected on the stable support, and therefore are equivalent to locus main body to be determined and fix.This system can not be collided during measuring, in order to avoid measurement result is had a negative impact.This may cause going wrong under restricted environment, also may produce obstruction although make known tracing system have lot of advantages.Another reason is that the marker that is attached on the main body must be visible always concerning tracing system, but it may be covered by surgeon or other personnel.

[08] tracing system necessary fixed constraint between operation or operating period no longer is necessary concerning tracing system of the present invention.

[09] in this article, term " fixed " expression tracing system is positioned in the fixed locus, especially during use; In other words, it is motionless in use.Therefore the use of tracing system is embodied in the reality " tracking " to main body.Should be appreciated that traditional tracing system is repositionable.But this reorientate not occur in follow the trail of operating period; But (if necessary) occurs in before or after the tracking.Therefore, the tracing system of prior art can not be used as tracing system of the present invention movably.

[10] therefore, moving tracing of the present invention system fundamentally is different from known tracing system.

[11] title " tracing system " has been described a kind of system, utilizes it, and (especially) medical instrument, medical apparatus, medical apparatus and instruments and/or medical appurtenance can optically be discerned, and relatively moving between itself and other main body also can be tracked.Term " tracing system " refers in particular to Optical devices and pick off, and relevant device, makes the parts at least or the parts group (comprising Optical devices and pick off) of tracing system, can reorientate with respect to tracked main body.

[12] term " main body " comprises general technical pattern or object and special technique structure or the object in the medical field in present patent application, and for example, medical instrument, medical apparatus and instruments, graft or other are used for the technology appurtenance of medical field.In addition, term " main body " also comprises health, body part, and biological (especially) patient's body region.

[13] main body, for example medical instrument, medical apparatus, medical apparatus and instruments, and/or the graft insert that can randomly be equipped with removable and/or adjustable insert and be combined with structure and localizer rightly.

[14] term " technology appurtenance " refers in particular to the appurtenance that is used for determining main body relative tertiary location each other.The technology appurtenance relevant with tracing system in the medical field comprises localizer, structure, terrestrial reference and the pattern (Muster) on (for example) main body.

[15] term " locus " and " spatial orientation " refer to the locus and the spatial orientation of main body in present patent application, for example in the coordinate system of tracing system, and/or relative tertiary location and spatial orientation between two main bodys.

[16] purpose of the present invention carries out contactlessly determining to the locus of main body and/or spatial orientation by tracing system and the equipment measured is realized, wherein main body can and be arranged to have certain relation each other by this tracing system location, and this tracing system can manually or automatically move and replacement with respect to main body during use.

[17] tracing system of the present invention can be in use, even move in to " tracking " of main body, reorientate about main body, or even temporarily put aside.Therefore, the described shortcoming of known tracing system can be eliminated.

[18] system of the present invention and method of the present invention all are fit to be used for to improve and improve tracing system and method for tracing in the medical field very much.Should be appreciated that system of the present invention and method of the present invention are not limited to the application of medical field, but can advantageously be applied in any case---as long as in these situations, determine that the locus of at least two main bodys is favourable and/or necessary.

[19] preferred embodiments remodeling is arranged to, and this moving tracing system is movably in its operating period or between its operating period with respect to main body.

[20] difference of this tracing system and traditional tracing system especially is arranged to here.Traditional tracing system must be arranged on respect to main body to be measured and in the fixed locus always, or to have at least with respect to Laboratory System be fixed.

[21] advantageously, user, for example surgeon can be placed on tracing system on hand (if it is in certain construction phase and unwanted words).The application of this tracing system becomes very flexible thus.

[22] if the moving tracing system is arranged to or is held in its operating period or between its operating period can be moved with respect to main body, then be particularly advantageous.Thus, the tracing system of device can only need its ground to use just now in task.Perhaps, tracing system just puts aside.

[23] therefore, the preferred remodeling of implementing is arranged to, and this moving tracing system can be provided with movably with respect to main body.

[24] term " movably " is represented and the just in time opposite meaning of term " fixed " in this article.Therefore, tracing system is advantageously unfixing stiffly with respect to whole working region or local work area territory.In fact, moving tracing system itself movably reaches and can reset with respect to main body to be detected during operation.

[25] based on this notion, a method remodeling is arranged to the manual guidance of tracing system between its operating period.Thus, when the surgeon can oneself decision tracing system should reach and where remain in the local work area territory.

[26] operation when using of this moving tracing system is very simple, and especially it can manually, directly remain in the local work area territory.

[27] all known tracing systems are all measured with desired high measurement accuracy in whole working region almost, and this has brought huge computation burden.If determine that it will be favourable that the locus of main body and/or the desired computation burden of spatial orientation can reduce, but be not interested local work area territory but measure in (for example) operating process only so far in whole working region.

[28] another embodiment of this method is arranged to, and determines locus and/or spatial orientation between at least two main bodys only interimly.Thus, desired computation burden further reduces.

[29] term " interim ground " refers in this article, and movable positioning system is not to be permanently situated in the working region.For example, this moving tracing system can observe (Vorher-Betrachtung)/observe (Nachher-Betrachtung) in the back according to pro-and only remain in the local work area territory before main processing procedure He after the main processing procedure.Like this, this moving tracing system can put aside at interlude.

[30] therefore, tracing system of the present invention is applied to measure or control after can advantageously only before certain treatment step being.For this reason, it is with favourable position and direction of measurement and align and for example be equipped with the main body of localizer or structure.This tracing system can be determined main body relative tertiary location each other with the form of snapshot.This tracing system can also be described the curve of main body position with a series of snapshots, make it can (for example) before certain treatment step, between or the dynamic behaviour of learning agent part afterwards.With fixed systematic comparison, the principal advantages of this mode is, no longer need measure with required precision in whole working region; But only measure in the local work area territory of reality.Another advantage is that the position of tracing system and direction of measurement can be selected in each step.For adjacent and this is particularly advantageous the object put or the main body, can use small size tracing system extremely easily.

[31] in order also manually to guide tracing system, the moving tracing system advantageously has handle, utilizes it, and tracing system can manually be kept and/or guide.

[32] if the weight of this moving tracing system less than 2 kilograms or 0.5 kilogram or preferably less than 0.1 kilogram, then is more favourable in processing.Have so low weight, tracing system itself even used also can be worked good for a long time.Especially be lighter than 0.1 kilogram moving tracing system, it particularly advantageously is applied in dental operation and/or the minimum level invasive surgical.

[33] for only needs it the time activate tracing system, advantageously this moving tracing system has active device to start and to carry out and determine and measuring process.

Therefore [34] on program, if determine and/or measure that to start with manual active device can be favourable.

[35] should be appreciated that active device can design in many ways.For example, active device can be positioned on the handle with the form of switch.Implement remodeling for one and be arranged to, the form of active device is a foot switch.This design makes the moving tracing system construct more compactly, can set aside because belong to the parts or the parts group of moving tracing system switching.

[36] another is implemented to retrofit and is arranged to, and active device has voice operated controls spare.Thus, the surgeon can especially cosily operate this moving tracing system.

[37] if the moving tracing system is only kept by hands and guides, advantageously, the moving tracing system has bindiny mechanism it is connected on the movable guide, for example the arm and/or the robots arm that can manually move.Utilize such bindiny mechanism, the moving tracing system is to other maintaining body, and (for example) movable keeping arm or robots arm during following the trail of be greatly simplified.

[38] bindiny mechanism can form be, makes the moving tracing system can be placed on the surgical arm.If bindiny mechanism allows the moving tracing system to be connected to patient's head or the other parts of patient body are, will be favourable.

[39] in addition, for the further improved operation of moving tracing system, the moving tracing system is (autark) advantageously independently.

[40] for this reason, the moving tracing system advantageously has device and measures the skew of moving tracing system with respect to main body.

[41], advantageously, calculate and carry out with software in order to keep the renewal of tracing system.And software is to upgrade especially easily.

[42] for the independently operation of moving tracing system, the moving tracing system advantageously has the energy source of oneself.This energy source can be for example battery, accumulator or fuel cell.

[43] if the moving tracing system has wireless communication devices, then the operation meeting of moving tracing system is further simplified.

[44] in order to make the moving tracing system can carry out visual observation, the moving tracing system advantageously has one or preferably a plurality of camera.

[45] advantageously, camera has surface probe.Can improve the measurement reliability greatly more than two surface probes.

[46] preferred embodiment remodeling has localizer, structure, pattern and/or second pattern.

[47] term " localizer " refers to be connected to the technology appurtenance on other main body in this article.This another main body can be utilized localizer and be placed by the moving tracing system.The locus of main body can be determined by localizer on no problem ground.

[48] according to the present invention, term " structure " refers to have the 3D solid of pattern.According to the present invention, structure also constitutes main body.Structure can be for example dull and stereotyped form.Structure can be permanently or detachable being connected on another main body.In some applications, structure itself advantageously can be the main part of another main body.Structure can be the part of medical apparatus and instruments for example.

[49] pattern is preferably located on the surface of structure.Yet it also can be connected on the structure by different way.The design of structure plan has been determined when producing.

[50] according to present patent application, " pattern " is by the straight line of (for example) different in width and length or curve, circle, ellipse, triangle and rectangle or its combination and the entity of forming.Preferably it is located immediately at the surface of main body (for example structure).Obviously, pattern is different from the surface that it was positioned at significantly.

[51] difference of pattern and structure is, for example, it is two-dimentional basically but not three-dimensional entity.This means that the such entity of pattern and (for example) structure is the same, has length and width.Yet its thickness can be ignored with respect to thickness of structure, and in this article, it is counted as 2d solid.The thickness that is positioned at (for example) structural pattern is exactly structural color layers thickness substantially.Pattern can also constituting by reflecting material, absorbing material, fluorescent material, phosphor material or luminescent material.These materials are particularly suitable in conjunction with visible light, infrared light or ultraviolet light.

[52] pattern part helps improving moving tracing system definite and measurement space position and aspect-stabilized efficiency of algorithm.If pattern is positioned on the structure, pattern or its part can be as the means of identification of structure.Utilize pattern, but main body can discern by the structure that comprises identification icon, can determine then whether it is medical apparatus and instruments or medical instrument.Therefore, pattern is given to the moving tracing system to the essential information about (utilizing tracing system to obtain) main body.

[53] also there be second kind of pattern in the present invention in the pattern except being introduced, just " second pattern ".When except pattern by the moving tracing system identification, during another pattern (being so-called second pattern) that existence can be measured by other imaging device (for example CT device or other utilize X ray that bone and tooth are carried out the three-dimensional device that detects), this registration for main body (Registrierung) is especially favourable.

[54] in this article, if pattern mainly determines that by the moving tracing system then it refers to " pattern ".If pattern can determine and resolution that then it refers to second pattern by another imaging device.Therefore, second pattern material that preferably can not be passed by X ray and/or the X ray material that can pass constitutes.Second pattern can also comprise can be by detection of MRI system and the material of measuring.Another example of second pattern can be detected and be measured by the imaging device based on tril hertz spectrum width.

[55] depend on the type of imaging device, for example CT or MRI system, second pattern should be by straight line or curve, circle, ellipse, triangle and the rectangle of different in width and length, or it makes up and forms its thickness and undemanding being limited under the bed thickness.

[56] in addition, advantageously, localizer, structure, pattern and/or second pattern are connected on instrument, parts and/or the apparatus.Main body can be detected by the moving tracing system at least thus.

[57] if localizer, structure, pattern and/or second pattern are connected on people's body part, for example bone or the joint, the former can be at least by the moving tracing system identification.

[58] more advantageously, pattern is constituted by the straight line that can be moved tracing system detects and analyze different in width and length or curve, circle, ellipse, triangle and rectangle or its.

[59] in addition, pattern advantageously is made of absorbing material, non-reflective materials, reflecting material, fluorescent material, phosphor material or other luminescent material.

[60] in an embodiment remodeling, there is relation in second pattern with pattern in set.For registration process, especially advantageously, good at that time second pattern that limits is present in the pattern next door by the moving tracing systematic survey.Discern and measure by other imaging device by second pattern that suitable material is made.If the material that material that second pattern can not be passed by X ray and X ray can pass constitutes, it can the CT device or other utilize X ray to bone with tooth carries out the three-dimensional device identification that detects and be to distinguish in the space.

[61] therefore, second pattern advantageously can be by other imaging device, especially non-optical instruments identification.

[62] more advantageously, structure comprises the pattern that has known locus and/or geometric detail.Thus, the main body that comprises pattern can accurately be measured by the moving tracing system.

[63] be connected on the main body for bar structure advantageously, structure advantageously comprises the device that is fixed on the main body.

[64] in this case, fixer advantageously has leg so that it is connected on the main body.

[65] structure also advantageously is made of flat board.Flat board especially can have pattern well.

[66] in this enforcement remodeling, structure is made of the flat board that has the three dimensional structure surface.

[67] from textural, structure particularly advantageously is the part of medical instrument, medical apparatus and/or medical apparatus and instruments.Thus, structure advantageously can be formed in the main body.

[68] another favourable connection possibility comes from Magnet is used as structure.

[69] discern well in order to make structure can be moved tracing system always, advantageously, structure has the surface of bearing dirty.

[70] in order very well to discern pattern on main body, the especially main body or the structure on the main body, the moving tracing system advantageously has luminescent device.

[71] depend on application, luminescent device advantageously has far red light spectral limit (hyperroten Bereich).

[72] main body advantageously comprises Crumple element.By Crumple element, main body can and be suitable for any environment that it runs in the many-side adjustment.

[73] in order to find the distortion of main body (for example medical instrument or medical apparatus and instruments), particularly advantageous is identification and the geometry of measuring main body.Whether the distortion of main body is have a mind to then unimportant.

[74] in addition, main body is advantageously by being connected to main body and can being come registration by the pattern and/or second pattern that imaging device is discerned.

[75] the moving tracing system is connected on the main body, especially on medical instrument and/or the medical apparatus and instruments, has brought further simplification.The moving tracing system can (for example) be connected on the patient's body part, for example on the bone provisionally.

[76] advantageously, locus and/or the spatial orientation that is connected to the localizer on the main body detects and measures with respect to the structure and/or the pattern that are connected on the main body.

[77] for the structural pattern in the direct vision scope that can utilize the moving tracing system to detect not to be positioned at the moving tracing system, device advantageously comprises the mirror with pattern and/or second pattern.As seen the not direct visible pattern of moving tracing system can become by mirror.Because mirror also comprises the pattern and/or second pattern, its locus is confirmable, especially can be determined by the moving tracing system.Utilize mirror and the locus of visible pattern can utilize the locus of mirror to determine.

[78] purpose of the present invention also realizes by the calibration steps of (especially) medical instrument, medical apparatus and/or medical apparatus and instruments.Medical instrument, medical apparatus and/or medical apparatus and instruments are provided with pattern and/or comprise the structure of pattern.Medical instrument, medical apparatus and/or medical apparatus and instruments are measured by pattern and/or structure.Thus, be used for the workload of the calibration of such main body has been reduced significantly.

[79] desired mechanical precision especially about the mechanical precision of medical apparatus and instruments, brings very high product expense in some cases.Especially for the medical apparatus and instruments that has interchangeable insert, its tip is provided with pocket knife or syringe needle.

[80] if medical apparatus and instruments does not have prior calibration just to use, accessible spatial position precision at first is subjected to the influence of apparatus manufacturing tolerance.In addition, also may use the apparatus that undesirable deformation has taken place.Utilize the correcting mechanism of other prior art, the geometry of medical apparatus and instruments usually before certain working stage or between utilize the optical tracking system to measure and check.It no longer is essential the invention enables these extra correcting mechanisms.

[81] therefore, advantageously, come measured pattern and/or structure, to measure the shape of medical apparatus and instruments by tracing system, especially moving tracing system.

[82] the present invention relates to a kind of calibration steps of use device especially, utilizes this device, the structure of moving tracing systematic survey apparatus or instrument.Its principal advantages is that common calibrating installation can be removed from or simplify.

[83] characteristics of the form of structure and pattern just define at production period.If pattern is given, then the basic geometry of structure also is known.Basic geometry is for example diameter, length or radius.For example, if be out of shape the whole surface coverage of main body suitable pattern is not arranged, the geometric format of main body can fully accurately utilize the measurement of pattern to describe.

[84] localizer with respect to the locus of structure by tracing system at the alignment epoch measurements.Therefore no longer need realize the localizer locus widely at production period.General calibration procedure can followingly take place.

[85] apparatus rotates in the measuring range or working region of tracing system, makes that all sides of apparatus are all measured successively at calibration mode.Alternatively, tracing system itself can guide around apparatus.In addition, the calibration mode affirmation, structure that comprise the geometry of the affirmation of structure and assessment, structure about the apparatus spatial form, based on the distribution of identification and localizer locus about structure or apparatus spatial form.

[86] if desired, this calibration procedure that is used for apparatus or instrument can repeat.Since structure (whole or part) and localizer all measure main body position during identification, calibration can take place or periodically check simultaneously.Therefore comprise suitable algorithm realizes this task to tracing system.

[87] purpose of the present invention is also by realizing according to detection method existing distortion, (especially) medical instrument, medical apparatus and/or medical apparatus and instruments.For this reason, the pattern on moving tracing system identification medical instrument, medical apparatus and/or the medical apparatus and instruments.

[88] if the pattern on (especially) medical instrument, medical apparatus and/or the medical apparatus and instruments is used to calibrate and/or check the distortion of medical instrument, medical apparatus and/or medical apparatus and instruments, will be favourable.

[89] strained apparatus can be measured and detect in the moving tracing system especially, because current structure is different with structure that defines between recognition phase or the previous structure of measuring.Deformation for example can not inadvertently occur in before the working stage or between.Deformation can also intentionally be carried out, to adapt to the apparatus geometry in the working stage for example.Especially when using calibration steps, can enough accurately determine to be out of shape the geometry of apparatus.

[90] in addition, the moving tracing system supports user to adopt when the single main body of registration than the simple a lot of program of traditional registration procedure, especially at intra-operative basically.

[91] obtain such simplification, because tracing system detects structure and/or the pattern on the corresponding main part on the one hand, and other imaging device (C shape arm, CT, MRI and/or other use X ray carry out three-dimensional identification to bone and tooth device) detection patient data become the locus with second pattern and this date processing on the other hand.Thus, the locus of structure is known always according to patient data.For this reason, definite and these points consuming time, operation registration point before utilize the detection of the indicator instruments of being measured by tracing system to omit.Moving tracing optimum system choosing ground comprises the algorithm of suitable optimization, to realize this purpose.This has brought a principal advantages again, that is, the haptic methods that registration is used no longer is necessary ideally.Or if necessary, haptic methods is used to control purpose.

[92] purpose of the present invention also realizes by such method, promptly, the pattern and/or second pattern are connected at least one suitable tooth or template, this template is connected on the suitable tooth or structure, and this structure is connected in the jaw portion, thus, the pattern and/or second pattern locus and/or space orientation each other determined.

[93] the present invention is therefore at the field of dental surgery advantageous particularly.

[94] in order to obtain other data about field of operation, optical scanning is advantageously carried out on the surface in local work area territory in advance.

[95] when local working region uses X ray to carry out three-dimensional measurement, can determine other data about field of operation.

[96] when based on the determined data of moving tracing system of determined scan-data and X ray data and equipment and when having set up threedimensional model, the surgeon obtains point-device field of operation picture.

[97] in order to set up model, determined at least scan-data preferably uses identical coordinate system with the X ray data.

[98] the preferred variant embodiment of this method uses the model of being set up to determine the structure of implant and/or corona (Krone).

[99] if utilize this model to determine the relative tertiary location and/or the space orientation of boring, drilling axis, drilling depth and/or borehole space position, then operative treatment can especially accurately carry out.

[100] if determined corona structure almost produces simultaneously by the support of CAD/CAM and the boring procedure of performing the operation, then can be more favourable.

[101] put it briefly, tracing system according to the present invention is particularly suitable for discerning localizer and the structure that is connected on the main body, determines the locus of localizer and structure, and utilizes this data computation main body position.

[102] in addition, tracing system can also determine to be connected with the geometry of whole or part of the main body of suitable construction.In addition, it also makes the geometric relationship of main body to the localizer that is connected on the main body.

[103] main body position can utilize localizer or structure to discern.The definite of main body position can also utilize localizer and structure to carry out.

[104] the moving tracing system can directly be connected on target or the main body, and on instrument, apparatus or other main part.Its principal advantages is, the locus of this main body only just can know by tracing system, and do not need any other measurement.

[105] another advantage is, the quantity of desired main body has reduced in the working region.In concrete example, only use the instrument that is connected with the moving tracing system, and its (for example) sensing (orientiert) is connected to the structure on the main part.The example of particular importance is, the enforcement in the field of dental surgery, and wherein the moving tracing system advantageously is formed in the instrument (for example boring) or on the instrument.Structure can be positioned on template and/or the tooth.When they were placed on one or more teeth, template was stable especially.

[106] that move, lightweight, movably and tracing system of the present invention easily can be used for manual measurement as required.Before certain working stage and afterwards, can utilize its measurement space position.In working stage, it can put aside.Therefore, tracing system can be connected in the robot as described above, especially on the robots arm, and only measures as required.

[107] this moving tracing system can at least temporarily be connected on the spider, to measure main body position for a long time in the working area.The critical nature of moving tracing system for example measuring range (Messvolumn), measuring distance or certainty of measurement etc. is at first limited by the layout and the character of camera, localizer or structure.Certainty of measurement, measuring range and/or measuring distance influence the layout and the character of moving tracing system geometries and camera greatly.Little measuring range and little measuring distance generally allow tracing system to have little physical dimension.On the contrary, big measuring range and the big measuring distance tracing system that causes big physical dimension usually.To identical certainty of measurement and use identical photographing unit technology, the power consumption of bigger tracing system is significantly greater than less tracing system.

[108] in this, it may be noted that all apparatuses or instrument, insert, structure, localizer or its parts are preferably produced is disposable product.In some applications, because (for example) hygienic reason this be favourable.Additional advantage is arranged in logistics management, cleaning, sterilization and the detection of main body.

[109] another significant advantage is, disposable utensil can use suitable material and suitable manufacturing process like this, and for example injection molding or three-dimensionally shaped technology are produced cheaply.

[110] another advantage is, the accuracy of manufacture of localizer (comprising adnexa) can reduce, because the localizer position utilizes the moving tracing system to measure with respect to structure.

[111] purpose of the present invention also realizes by such method, promptly, first structure and/or first localizer that have pattern are connected on the main body, (for example) parts and at least another have the structure of pattern and/or at least another localizer be also connected on the main body.Having the structure of pattern and/or the relative tertiary location and/or the spatial orientation of localizer determines by device according to the present invention.Handle main body then.Having the relative tertiary location of the structure of pattern and/or localizer and/or space is oriented in and is determined once more during another time at least measured.The locus of twice measurement and/or spatial orientation are compared mutually.

[112] advantageously, the state of main body or main part particularly according to the locus, can compare before working stage and afterwards.

[113] further method remodeling is advantageously provided, pending main body is handled step by step, up to from the locus of structure of measuring for the first time that has pattern and/or localizer and direction with meet with suitable manner from the structure that has pattern of measurement for the second time and/or the locus and the direction of localizer.Locus and/or spatial orientation preferably only use existing pattern to determine by this moving tracing system.

[114] thus, main body or part main body can working stage formerly after, meet the starting stage accurately.

[115] advantageous method remodeling is arranged in medical field, and the surgeon handles patient's joint or other body part.

[116] if (for example) is if the part in patient joint is replaced by artificial limb or handles bone to insert implant between two bone pieces, at least two structures that have pattern suitably are connected on the side, joint, and before the main operation of reality begins, determine that by pattern and moving tracing system relative tertiary location each other can be favourable.The surgeon replaces the joint block between two structures with artificial limb.After the main operation of success, the locus of structure is determined once more and makes comparisons with the previous locus of determining.Thus, the surgeon can determine that joint or joint block are repositioned at their luv space position in verifiable mode, or enough luv space positions near them from medical angle.

[117] because use is especially easy, this tracing system particularly advantageously is useful in dental operation and minimum level invasive surgical field.

[118] the more advantage of the present invention, target and characteristic will be introduced by following explanation and accompanying drawing, wherein describe in detail and utilize tracing system to come contactlessly to determine and measure the locus of main body and/or the parts or the parts group of aspect-stabilized device and this device.

[119] wherein

Fig. 1 has schematically shown the layout according to device of the present invention, wherein has the moving tracing system of medical apparatus and instruments, and it is included in the structure that has pattern before the main part with another structure;

Fig. 2 has schematically shown the possible embodiment of first pattern;

Fig. 3 has schematically shown the possible embodiment of another pattern;

Fig. 4 has schematically shown another pattern example;

Fig. 5 has schematically shown the layout of the medical apparatus and instruments that comprises moving tracing system and band localizer, structure and pattern;

Fig. 6 has shown that schematically bar structure is connected the technology on the hard main part;

Fig. 7 has schematically shown the view of funnelform terrestrial reference, and it has the round medicated cap that is provided with pattern and magnetic material at the top;

Fig. 8 a has shown that schematically another moving tracing system is connected the setting with the medical apparatus and instruments of localizer, structure, pattern and 3-d deformable element with band;

Fig. 9 has schematically shown the view of the implant of band 3-d deformable element and pattern;

Figure 10 has schematically shown the moving tracing system, has the main part of structure and pattern and the layout of mirror system;

Figure 11 has schematically shown moving tracing system, scanner and has had syndeton and the setting of the main part of pattern;

Figure 12 has schematically shown the moving tracing system.Projector and the setting that has the main part that is connected figuratum structure;

Figure 13 has schematically shown moving tracing system, ultrasonic transducer and has had the setting of the main part that is connected figuratum structure;

Figure 14 schematically shown boring and milling head has been set, utilize with X ray bone and tooth are carried out the three-dimensional device that detects and be positioned at tooth and/or template on structure;

Figure 15 has schematically shown the moving tracing system and has been equipped with the layout of two main parts of structure.

[120] as shown in Figure 1, layout 1 comprises moving tracing system 2, healthcare structure 3 and as the bone 4 of human body parts.Moving tracing system 2 is furnished with first photographing unit 5 and second photographing unit 6.

[121] in order to show healthcare structure 3 and bone 4 better, moving tracing system 2 is furnished with first lamp 7 and second lamp 8.

Lamp

7 and 8 has light emitting diode (not showing) herein, and it launches infrared spectrum.Alternatively, light emitting diode can be launched far-infrared spectrum.

[122] in order to keep and guide moving tracing system 2 well, it is furnished with handle 9, in this exemplifying embodiment, activates mechanism 10 and is connected on this handle 9.Can select to measure type by activating mechanism 10.In Fig. 1, three measurement patterns all are available, i.e. single measurement, and a series of single measurements and/or film list type are measured (Filmsequenz).

[123] moving tracing system 2 is distributed in assessment and display device 11, and utilizes communication link fitting 11A and be connected in the moving tracing system 2.Therefore moving tracing system 2 is very light also carries easily.

[124] structure 3 is furnished with first pattern 12 and first localizer 13.Another structure 14 has second pattern 15 and bone localizer 16 is connected on the bone 4.

Structure

3 and 14 is three-dimensional main bodys, is connected with pattern 12 or pattern 15

thereon.Pattern

12 and 15 allows moving tracing system 2 to determine the locus of structure 3 and 14.Moving tracing system 2 can at first utilize pattern 12 to determine the geometry of structure 3.

[125] by moving tracing system 2, determined local work area territory 17, its comprise structure 3 and shown in the part interested of bone 4.

[126] the moving tracing system is provided energy by communication link fitting 11A.Should be appreciated that the wireless connections between moving tracing system 2 and assessment and the display device 11 can be arranged to wire communication connector 11A.In this case, moving tracing system 2 must have that it is portable, the energy of oneself is supplied with, for example battery or fuel cell.

[127] first localizers 13 and bone localizer 16 boths are equipped with reflection sphere 18.The shape of first structure 3 and another structure 14 and the character of first pattern 12 and second pattern 15 limit at the production period of structure 3 and another structure 14.The character that therefore moving tracing system 2 could accurately discern and distribute clearly first pattern 12 and second pattern 15.

[128] surface design of structure 3 and another structure 14 becomes and can bear dirty.Thus, the influence of the contaminated thing of the measurement result of moving tracing system 2 (for example drop of blood or unclean air) is just less.May simplify greatly by bearing dirty the surface by required cleaning surfaces.

[129] Fig. 2 as shown, pattern 20 comprises straight line, circle, ellipse, triangle and the rectangle of many different width.The some parts 21 of pattern 20 is used to improve the efficiency of algorithm of moving tracing system 2.The optional part 22 of pattern 20 is used to discern the structure of distributing to pattern 20.In part 22, especially the relation between structure and medical apparatus and instruments or the medical instrument has been defined.

[130] in addition, pattern 20 comprises the many lines 23 (its label only is exemplary) of being with different in width here.Line 23 advantageously has enough big width, and for example therefore four of used camera sensor to ten pixels with the sensor image of definite pattern 20, and determine geometrical shapes with enough precision.

[131] advantageously, pattern 20 comprises thick line and fine rule 23, makes pattern 20 well to be discerned always.For example, very violent if the focal length of given camera and distance between main body and the tracing system change during operation, then pattern 20 advantageously will be made of the line of different in width.The thick line of pattern 20 at first is used under main body and the bigger situation of moving tracing system distance.And the thinner line of pattern 20 is used under the less situation of main body and moving tracing system spacing.

[132] as shown in Figure 3 and Figure 4, another

pattern

25 and 26 has shown the multiformity of possibility pattern used in this invention.

[133] according to Fig. 5, layout 101 has shown the moving tracing system 102 of next-door neighbour's medical apparatus and instruments 130.

[134] moving tracing system 102 is furnished with three cameras 105 (its label only is exemplary) here.

[135] medical apparatus and instruments 130 is designed to be connected to the insert on the structure 103.This insert is inserted in the structure 103.Medical apparatus and instruments 130 has instrument tip 131.Medical apparatus and instruments 130 (comprising instrument tip 131) has apparatus pattern 132.Apparatus structure 103 has apparatus pattern 112.

[136] apparatus structure localizer 113 is connected on the apparatus structure 103.Except reflection sphere 118, apparatus structure localizer 113 also is furnished with link 133, utilizes its apparatus structure localizer 113 to be connected on the apparatus structure 103.

[137] medical apparatus and instruments 130 is furnished with apparatus localizer 135, and it is positioned on the apparatus end 134, and it is relative with instrument tip 131 and put.

[138] medical apparatus and instruments 130 that shows in Fig. 5 is to be the example of the main body of form with medical apparatus and instruments 130, and it is furnished with a plurality of patterns 112,132 and localizer 113,135.

[139] moving tracing system 102 can utilize different pattern 112,132 to determine clearly the geometry of medical apparatus and instruments 130.In addition, moving tracing system 102 determines the localizer position of the corresponding pattern 112,132 on the medical apparatus and instruments 130.Such advantage is that the locus of instrument tip 131 can utilize the measurement of localizer 113,135 and know.

[140] as shown in Figure 6, the structure 203 that has a pattern 212 is connected on the bone piece 240.Implement in the remodeling at this, structure 203 comprises first support sector 241, second support sector 242 and the 3rd support sector 243.

[141] in addition, structure 240 comprises screw thread 244, makes structure 203 can be screwed on the bone piece 240, particularly is connected to securely on the bone piece 240.In this example, structure 203 is designed to two dimensional panel, and pattern 212 connects thereon.

[142] as shown in Figure 7, terrestrial reference 350 is adhered on patient's the skin 351.Terrestrial reference 350 has funnelform recess 352.Structure 303 is inserted in the funnel-form recess 352 of terrestrial reference 350.Structure 303 is furnished with pattern 312.Structure 303 utilizes Magnet 353 to be connected on the terrestrial reference 350.The Magnet 353 of structure 302 works with the ferrimagnet 354 1 of terrestrial reference 350.Operation dress is sandwiched between terrestrial reference 350 and the structure 302.

[143] as shown in Figure 8, medical apparatus and instruments 430 comprises apparatus insert 460, and it is furnished with 3-d deformable element 461 between instrument tip 431 and apparatus end 434.Except Crumple element 461, apparatus insert 460 also is provided with apparatus pattern 432.

[144] should be appreciated that in other embodiments, can only this pattern be set at single regional area.

[145] at 434 places, apparatus end, be provided with apparatus localizer 435.In addition, apparatus structure localizer 413 is fastened on the medical apparatus and instruments 430.Apparatus localizer 435 and apparatus structure localizer 413 comprise reflection sphere 418 (its label only is exemplary) here.

[146] have the next-door neighbour of moving tracing system 402 medical apparatus and instruments 430 of three cameras 405 (its label only is exemplary) here.All patterns 432 and the localizer 413,435 that are positioned on the medical apparatus and instruments 430 all utilize moving tracing system 402 to measure.Instrument tip 431 can be determined with respect to moving of medical apparatus and instruments 430 other zones and determine (for example).

[147] as shown in Figure 9, implant 565 comprises the first Crumple element 561A and the second Crumple element 561B.Thus, implant 565 is divided into first subdivision 566, second subdivision 567 and the 3rd subdivision 568.Independently therefore subdivision 566,567 and 568 can relative to each other move.In order to detect and the whole implant geometry of definite implant 565, whole implant 565 all is coated with pattern 520.

[148] implant 565 can be out of shape and be measured by the moving tracing system, has desirable shape up to it.Implant 565 can be connected on the main part (herein not showing) by connecting thread (not showing) herein then.

[149] Figure 10 has shown structure 603 that has pattern 612 and the bone localizer 616 of being with reflection sphere 618, and it all is connected on the bone piece 640.Bone piece 640, structure 603 and bone localizer 616 are measured by moving tracing system 602, and this moving tracing system 602 is furnished with camera 605 (its label only is exemplary) here.

[150] because having the structure 603 of pattern 612 is partly covered by bone piece 640, make pattern 612 directly not detect, therefore mirror 670 is arranged on the opposite of pattern 612 by moving tracing system 602.Therefore, moving tracing system 602 use mirrors 670 can see with measurement structure 603 on pattern 612.

[151] in order to be identified, mirror 670 comprises marginal area 671 and evaluator 672 and another pattern 620 (its label only is exemplary) of tape label here.

[152] bony structure 714 that has a pattern 715 is connected on the bone piece 740, as shown in figure 11.There is the moving tracing system 702 with three cameras 705 (its label only is exemplary) here in next-door neighbour's bone piece 740.

[153] in addition, there is hand-held optical scanner 775 in next-door neighbour's bone piece 740, and it utilizes light beam 776 to measure the surface topography of bone piece 740.The direction of optical scanner 775 and bony structure 714 and position are measured by moving tracing system 702.For this reason, optical scanner 775 is furnished with three active LED777 (its label only is exemplary) here.The surface topography of the bone piece of being measured by optical scanner 765 740 in addition also will be with reference to available CT image or MRI image.

[154] have the bony structure 814 of the pattern 815 and second pattern 883, it is connected on the bone piece 840, as shown in figure 12.Second pattern 883 can make second pattern 883 know based on the data that obtain from CT with respect to bone piece 840 locus by CT (not showing) identification herein.Remain on before the bone piece 840 with the moving tracing device 802 of three cameras 805 (its label here only is exemplary).

[155] projector 880, and it throws the light 881 (its label only is exemplary) that limits on some spaces here and to bone piece 840, also remains near the bone piece 840.Projector 880 comprises three active LED877 (its label only is exemplary) here, can accurately being measured according to its locus by moving tracing system 802.Calculating by 802 measurements of moving tracing system and as the locus by the zone of light 881 irradiations in addition of bone piece 840.Can be by this program surface topography that determine, bone piece 840 with reference to CT image or MRI image.

[156] Figure 13 has shown the bony structure 914 that has the pattern 915 and second pattern 983, and it is connected on the bone piece 940.The moving tracing system that has three cameras 905 (its label only is exemplary) here remains near the bone piece 940.Pattern 915 can detect by moving tracing system 902, and therefore second pattern 983 also can detect by moving tracing system 902.In addition, second pattern 983 can be by other imaging device (not showing) identification, for example CT or MRI device herein.Ultrasonic measurement head 985 is measured bone piece 940 by sound wave pulse 986.Ultrasonic measurement head 985 comprises three active LED977 (its label only is exemplary) here, to be discerned by moving tracing system 902.Measurement bone surface by ultrasonic transducer head 985 and bony structure are with reference to CT or MRI image.

[157] as shown in figure 14, moving tracing system 1002 is connected on the medical instrument 1090, and in this example, it is the drilling tool of band drill bit 1090A.Particularly advantageous is that moving tracing system 1002 is very little very light, being connected on the instrument 1090 no problem.

[158] moving tracing system 1002 comprises first lamp, minicam 1005 and second lamp, minicam 1006, and the both has optical aperture angle 1091 (only exemplarily showing) herein.

[159] determined measurement data is delivered in analysis and the display device 1011 by communication link fitting 1011A.In this example, communication link fitting 1011A also comprises energy source (not showing) herein to be used for instrument 1090 and supply equipment (not showing) herein to be used for the local work area territory 1017 on the flushing tool 1090.

[160] alternative embodiment remodeling can be arranged to, the Optical devices of camera 1005,1006 (herein not showing clearly) are connected on the instrument 1090, and the parts that camera 1005,1006 is left, for example surface probe (herein showing) is placed in analysis and the display device 1011.Camera 1005,1006 has optic the connection by communication link fitting 1011A (it is made up of fibre bundle in this example) with surface probe.

[161] jaw portion district 1092 is measured at intra-operative by this moving tracing system 1002.First working flare 1007 and second working flare 1008 provide the sufficient light (its label only is exemplary) of structure 1003 here, structure 1003 has pattern 1012 (its label only is exemplary), second pattern 1083 (its label only is exemplary) here here, except tooth 1093 (its label here only is exemplary), it is arranged in the jaw portion district 1092.

[162] in this embodiment remodeling, structure 1003 is connected on the suitable tooth 1093.Therefore, guaranteed the firm maintenance of structure 1003 on tooth 1093.

[163] moving tracing system 1002 is based on structure 1003 and orientation, and structure 1003 temporarily is connected on the suitable tooth 1093 and comprises suitable pattern 1012.

[164] especially advantageously, no longer need to use localizer, because structure 1003 is with the pattern 1012 and second pattern 1083.

[165] alternatively, can use generate and template 1094 that comprise die plate pattern 1094A before operation.Template 1094 is connected on the independently tooth 1093 in lower jaw portion 1095 or the maxillary portion (herein showing).In this example, template 1094 has the placement location that is used for medical instrument 1090.

[166] if desired, structure 1003 must directly be anchored on the jawbone 1095 (only having shown lower jaw portion herein).If the geometry with the instrument 1090 of optional insert 1090A must be calibrated with respect to moving tracing system 1002, then instrument 1090 is connected with mechanical mode that limits and the calibrating installation that comprises structure 1003 (demonstration herein).Moving tracing system 1002 determines relative tertiary location with calibrating installation by these structures 1003 then, and from the geometry of these measurements with the instrument 1090 of optional insert 1090A.The most advanced and sophisticated 1090B of (for example) drilling tool has just known with respect to the direction of moving tracing system 1002 with respect to the position and the drilling axis 1090C of moving tracing system 1002 then.

[167] especially between the fixation phase of tooth transplantation thing (herein clearly show), initial space position 1096, drilling axis 1090C and the drilling depth of boring 1090A are obtained by other patient information.Corresponding method is introduced hereinafter.

[168] be used for patient's the implant and the optimum configuration of corona, for example replace the force distribution on shape, color, locus or the implant in bone of tooth, basically based on the surface and the stereochemical structure of existing tooth row, jaw portion and soft tissue.These details are by optical scanning and use X ray to carry out three-dimensional measurement to corresponding main part to obtain.

[169] after the optical scanning of corresponding main part, structure 1003 (comprising pattern 1012 and second pattern 1083 that can not transmitted X-rays) is connected on certain tooth 1093.These structures 1003 can be template 1094 or the structures 1003 that directly is connected on certain tooth 1093.The pattern 1012 and second pattern 1083 can also directly be stamped on the tooth 1093.

[170] three dimensional structure of bone 1095, tooth 1093 and neutral net, and second pattern 1083 can be measured by X ray.The data of optical scanning (surface) and X-ray measurement (jaw portion and tooth structure) are switched in the common coordinate system.Thus, the model of the main part of being considered has just been set up, and has wherein comprised all essential details, for example bony structure 1095, tooth 1093, neutral net, soft tissue surfaces, pattern 1012 and second pattern 1083.Especially, the coordinate system of moving tracing system has shown the position of jawbone 1095, tooth 1093 and soft tissue surfaces by measured pattern 1012.

[171] by means of this model, initial space position 1096, drilling axis 1090C and the drilling depth of the optimum configuration of implant and corona and boring 1090A have just been set up.

[172] implant generates usually in advance.Generate corona by suitable device then, advantageously in identical operating room, undertaken by CAD/CAM software.For this reason, do not utilize mould to produce corona not needing in prior art.

[173] during corona is finished, carried out actual main operation.The software that utilizes moving tracing system 1002 to navigate is determined initial space position 1096, drilling axis 1090C and the drilling depth of boring 1090A in the coordinate system of moving tracing system 1002.Moving tracing system 1002 determines the locus between boring 1090A and the jaw portion constantly.This information can be utilized (for example) by acoustic signal and/or optical signalling.The surgeon can be during boring procedure this information of land productivity continuously.Alternatively, he also can only use them in critical stage, and (for example) is in operation incipient stage and/or ending phase.

[174] implant can directly be screwed in the ready hole after boring.Then, the corona of finishing simultaneously is connected on the implant, and operation process further makes progress.

[175] this method advantageously is designed to, make optical scanning, structure 1003 is connected with pattern 1012,1083, bone 1095 and tooth 1093 are by the three-dimensional measurement of X ray, the modelling of main part, the optimum configuration of implant and corona, the generation of corona, the hole that utilizes moving tracing system 1003 to be bored, the implantation of implant can be finished in seance with being connected of corona.

Must guarantee that [176] neural (for example) do not damage, especially in the implantation of the operation of jaw portion, for example implant.Therefore, be of great value for example based on the aid of the navigation system of tracing system.They help the surgeon on purpose to work at intra-operative.The method that this paper introduced is not advantageously utilized reflection sphere.

[177] as shown in figure 15, moving tracing system 1102 preferably is applied in the minimum level invasive surgical process.In minimum level invasive surgical process, local work area territory 1117 is not covered by osculum 1200.The local work area territory 1117 that this means the reality that is used for moving tracing system 1102 is relatively little, and it adjusts the use of the relatively little tracing system of size.The surgeon partly and as required uses moving tracing system 1102.This means that moving tracing system 1102 uses before certain job step and afterwards.This is favourable, because it can put aside in time spent not, and does not therefore occupy any operative space.If desired, moving tracing system 1102 can be used for the critical stage of job step.

[178] general process of minimum level invasive surgical (it does not require registration) can carry out according to follow procedure.Expose osculum 1200.Then, structure 1103 (its label here only is exemplary) suitably is connected on the joint bone 1104 with their pattern 1112.The relative tertiary location of structure 1103 with respect to they the luv space position and measure.Operation can be carried out then, may connect complementary graft (not showing) herein.Then, the implant of qualification (herein showing) is inserted into, and measures the also locus of evaluation structure 1103 once more.Finally, all structures 1103 can remove.

[179] tracing system 1102 that this paper introduced can be improved well according to human engineering.In addition, its price is very economical.By structure used herein, then no longer need the localizer of those troubles.

[180] in method mentioned above, apparatus, instrument and/or aid, shown especially in the accompanying drawings those can be employed.

[181] in this, need mention once more, the apparatus and method of being introduced are not limited only to medical skill.This method also is fit to (especially) to be measured and production technology, and the processing or the processing of object or main body in the field of quality control.

The parts inventory

1 layout

2 moving tracing systems

3 structures

4 bones

5 first cameras

6 another cameras

7 first lamps

8 another lamps

9 handles

10 activator switches

11 analyze and display unit

11A communication link fitting

12 first patterns

13 first locators

14 another structures

15 another patterns

16 bone localizers

17 local work area territories

18 reflection spheres

20 patterns

21 subdivisions

22 optional subdivisions

23 lines

25 another patterns

26 another patterns

101 layouts

102 moving tracing systems

103 structures

105 photographing units

112 apparatus structure patterns

113 apparatus structure localizers

118 reflection spheres

130 medical apparatus and instruments

131 instrument tip

132 apparatus patterns

133 links

134 apparatus ends

135 apparatus localizers

203 structures

212 patterns

240 bone pieces

241 first support sectors

242 second support sectors

243 the 3rd support sectors

244 screw threads

303 structures

312 patterns

350 terrestrial references

351 skins

352 funnelform recesses

353 Magnet

354 ferrimagnets

355 operation dress

402 moving tracing systems

405 photographing units

413 apparatus structure localizers

418 reflection spheres

430 medical apparatus and instruments

431 instrument tip

434 apparatus ends

435 apparatus localizers

461 deformable segments

460 apparatus inserts

520 patterns

561A first Crumple element

561B second Crumple element

565 implants

566 first subdivisions

567 second subdivisions

568 the 3rd subdivisions

602 moving tracing systems

603 structures

605 photographing units

612 patterns

616 bone localizers

618 reflection spheres

620 patterns

640 bone pieces

670 mirrors

The marginal area of 671 tape labels

672 evaluators

702 moving tracing systems

705 3 photographing units

714 bony structure

715 patterns

740 bone pieces

775 optical scanners

776 lamp rays

777 3 active LED

802 moving tracing systems

805 3 photographing units

814 bony structure

815 patterns

840 bone pieces

877 3 active LED

880 projectors

881 lamp rays

883 second patterns

902 moving tracing systems

905 3 photographing units

914 first bony structure

915 patterns

940 bone pieces

977 3 active LED

983 second patterns

985 ultrasonic transducer heads

986 sound wave pulses

1002 moving tracing systems

1003 syndetons

1,005 first lamps, minicam

1,006 second lamps, minicam

1,007 first lamps

1,008 second lamps

1011 analyze and display device

1011A communication link fitting

1012 patterns

1017 local work area territories

1,083 second patterns

1090 medical instruments

The 1090A drill bit

1090B drilling tool tip

The 1090C drilling axis

1091 optical aperture angles

1092 jaw portion zones

1094 templates

The 1094A die plate pattern

1095 lower jaw portions

1096 original positions

1097 carry out the device of three-dimensional measurement by X ray to bone and tooth

1102 moving tracing systems

1103 structures

1104 bones

1112 patterns

1117 local work area territories

1200 osculums

Claims

1, a kind of equipment, described equipment is used for being undertaken determining non-contactly and measuring by the locus and/or the spatial orientation of tracing system to main body, described tracing system positions main body and opening relationships between described main body, it is characterized in that described tracing system or its parts or parts group can be used movably at least.

2, equipment according to claim 1 is characterized in that, described moving tracing system (2) remained movably with respect to described main body (3,4,13,14,16) between its operating period and operating period.

3, equipment according to claim 1 and 2 is characterized in that, described moving tracing system (2) is arranged to and/or is held between its operating period and operating period and can be shifted with respect to described main body (3,4,13,14,16).

According to each described equipment in the aforementioned claim 1 to 3, it is characterized in that 4, described moving tracing system (2) is provided with in revocable mode with respect to described main body (3,4,13,14,16).

According to each described equipment in the aforementioned claim 1 to 4, it is characterized in that 5, described moving tracing system (2) comprises handle (9), described moving tracing system (2) utilizes described handle (9) and is manually kept and/or guide.

According to each described equipment in the aforementioned claim 1 to 5, it is characterized in that 6, the weight of described moving tracing system (2) is less than 2 kilograms or less than 0.5 kilogram, perhaps preferably less than 0.1 kilogram.

According to each described equipment in the aforementioned claim 1 to 6, it is characterized in that 7, described moving tracing system (2) comprises active device (10), to start and to carry out and determine and measurement.

8, equipment according to claim 7 is characterized in that, described active device (10) comprises foot switch.

According to aforementioned claim 7 or 8 described equipment, it is characterized in that 9, described active device (10) comprises and is used for voice-operated device.

According to each described equipment in the aforementioned claim 1 to 9, it is characterized in that 10, described moving tracing system (2) comprises bindiny mechanism, be, for example on the arm and/or robots arm that can manually move it is connected to movable guide.

According to each described equipment in the aforementioned claim 1 to 10, it is characterized in that 11, described moving tracing system (2) is independently.

12, equipment according to claim 11 is characterized in that, described equipment comprises and is used to calculate the device of described moving tracing system (2) with respect to the displacement of described main body (3,4,13,14,16).

13, according to each described equipment in the aforementioned claim 1 to 12, it is characterized in that described calculating device is presented as software.

According to each described equipment in the aforementioned claim 1 to 13, it is characterized in that 14, described moving tracing system (2) has the energy source of oneself.

According to each described equipment in the aforementioned claim 1 to 14, it is characterized in that 15, described moving tracing system (2) comprises the device that is used for radio communication.

According to each described equipment in the aforementioned claim 1 to 15, it is characterized in that 16, described moving tracing system (2) comprises a photographing unit or preferably more than a photographing unit (5,6).

According to each described equipment in the claim 16, it is characterized in that 17, described camera (5,6) comprises surface probe.

According to each described equipment in the aforementioned claim 1 to 17, it is characterized in that 18, described moving tracing system (2) comprises illuminating device (7,8).

19, equipment according to claim 18 is characterized in that, described illuminating device (7,8) comprises the illuminating device that is in the far red light spectral limit.

20,, it is characterized in that localizer (13,16), structure (3,14), pattern (12,15) and/or second pattern according to each described equipment in the aforementioned claim 1 to 19.

21, equipment according to claim 20 is characterized in that, described localizer (13,16), structure (3,14), pattern (12,15) and/or second pattern are connected on the described main body (3,4,13,14,16), for example on instrument, parts and/or the apparatus.

22, according to aforementioned claim 20 or 21 described equipment, it is characterized in that, described pattern (12,15) comprises straight line or curve (23), circle, ellipse, triangle and rectangle or its combination of different in width and length, and they can and be analyzed by described moving tracing system (2) identification.

According to each described equipment in the aforementioned claim 20 to 22, it is characterized in that 23, described pattern (12,15) comprises not reflectorized material, reflectorized material, fluorescent material, phosphor material and/or self-luminescent material.

24, according to each described equipment in the aforementioned claim 20 to 23, it is characterized in that having the geometrical relationship of qualification between the described pattern (12,15) and second pattern.

According to each described equipment in the aforementioned claim 20 to 24, it is characterized in that 25, described second pattern can be discerned by another imaging device, especially non-optical instruments.

According to each described equipment in the aforementioned claim 20 to 25, it is characterized in that 26, described structure (3,14) comprises the pattern (12,15) with known location and/or geometric detail.

According to each described equipment in the aforementioned claim 20 to 26, it is characterized in that 27, described structure (3,14) comprises in order to be connected to the device on the main body.

28, equipment according to claim 27 is characterized in that, described interface unit comprises to be connected to the pillar on the main body (3,4,13,14,16).

According to each described equipment in the aforementioned claim 20 to 28, it is characterized in that 29, described structure (3,14) comprises flat board.

According to each described equipment in the aforementioned claim 20 to 29, it is characterized in that 30, described structure (3,14) comprises the flat board that has the three dimensional structure surface.

According to each described equipment in the aforementioned claim 20 to 30, it is characterized in that 31, described structure (3,14) is the part of medical instrument, medical apparatus and/or medical apparatus and instruments.

According to each described equipment in the aforementioned claim 20 to 31, it is characterized in that 32, described structure (3,14) comprises Magnet (453).

According to each described equipment in the aforementioned claim 20 to 32, it is characterized in that 33, described structure (3,14) comprises the surface that bears dirty.

According to each described equipment in the aforementioned claim 1 to 33, it is characterized in that 34, described main body (3,4,13,14,16) comprises Crumple element (461).

According to each described equipment in the aforementioned claim 1 to 34, it is characterized in that 35, described equipment comprises the mirror that has the pattern and/or second pattern.

36, a kind of method, be used to utilize tracing system and to carrying out determining non-contactly and measuring in the locus of main body and/or spatial orientation, described main body is positioned by described tracing system and forms certain relation each other, wherein, described moving tracing system can manually or automatically be moved and be reorientated with respect to main body between its operating period.

37, method according to claim 36 is characterized in that, described moving tracing system (2) guided by hands between its operating period.

According to aforementioned claim 36 or 37 described methods, it is characterized in that 38, described moving tracing system (2) directly especially utilizes manual mode and remains on the front in local work area territory to be measured between its operating period.

According to each described method in the aforementioned claim 36 to 38, it is characterized in that 39, locus and/or spatial orientation between at least two main bodys (3,4,13,14,16) are only determined interimly.

40, according to each described method in the aforementioned claim 36 to 39, it is characterized in that, determine and/or measure to start by active device (10).

41, according to each described method in the aforementioned claim 36 to 40, it is characterized in that, determine and measure the geometry of main body (3,4,13,14,16).

According to each described method in the aforementioned claim 36 to 41, it is characterized in that 42, pattern (12,15) that described main body (3,4,13,14,16) utilization is connected and/or second pattern of being discerned by another imaging device come registration.

According to each described method in the aforementioned claim 36 to 42, it is characterized in that 43, described moving tracing system (2) is arranged on the main body (3,4,13,14,16), particularly on medical instrument and/or medical apparatus and instruments.

44, according to each described method in the aforementioned claim 1 to 43, it is characterized in that, be connected to described main body (3,4,13,14,16) the described moving tracing system (2) on utilizes at least one described pattern (12,15), and definite in real time relative tertiary location and/or space orientation with respect to described structure (3,14).

45, according to each described method in the aforementioned claim 36 to 44, it is characterized in that, determine and measure to be connected to described localizer (13,16) the described main body (3,4,13 on, 14,16) with respect to the described main body (3 that is connected on described structure (3,14) and/or the described pattern (12,15), 4,13,14,16) locus and/or spatial orientation.

46, a kind of calibrating medical instrument that is used for, especially the method for medical apparatus and/or medical apparatus and instruments, it is characterized in that, described medical instrument, medical apparatus and/or medical apparatus and instruments are provided with pattern and/or have the structure of pattern, and described medical instrument, medical apparatus and/or medical apparatus and instruments are measured by described pattern and/or described structure.

According to the calibration steps of claim 46, it is characterized in that 47, described pattern (12,15) and/or described structure (3,14) are by tracing system, especially described moving tracing system (2) determines.

48, a kind of method, be used for detecting medical instrument about former distortion this respect, especially medical apparatus and/or medical apparatus and instruments is characterized in that, determine to be positioned at pattern on medical instrument, medical apparatus and/or the medical apparatus and instruments by moving tracing system (2).

49, a kind of method may further comprise the steps:

The structure and/or first localizer that for example utensil, first are had pattern are connected on the main body, and another structure and/or another localizer that has pattern is connected on the described main body at least;

By according to each the described equipment in the claim 1 to 35, during measuring for the first time, determine described structure and/or described localizer relative tertiary location and/or the space orientation each other that has pattern;

After aforementioned two steps, handle described main body;

During another time measured at least one, repeat to determine described structure and/or described localizer relative tertiary location and/or the space orientation each other that has pattern; And

Relative tertiary location that more described twice measurement obtained and/or space orientation.

50, according to the described method of claim 49, it is characterized in that, processed main body is handled step by step, measures the relative tertiary location of structure that obtained described have pattern and/or described localizer and/or space up to described first time and measures that obtained described has the structure of pattern and/or the relative tertiary location and/or the space orientation of described localizer coincide by rights the directed and described second time.

51, according to claim 49 or 50 described methods, it is characterized in that, handle joint or another part of patient by the surgeon.

52, a kind of method may further comprise the steps:

At least pattern and/or second pattern are connected to suitable tooth or are anchored on the template in the jawbone;

By according to each described equipment in the claim 1 to 35, the relative tertiary location and/or the space orientation of described pattern and/or described second pattern are carried out the measurement first time.

53, according to the described method of claim 52, it is characterized in that, with the surface of optical mode scanning local work area territory (1017).

54, according to claim 52 or 53 described methods, it is characterized in that, described local work area territory (1017) is carried out three-dimensional measurement by X ray.

55, according to each described method in the claim 52 to 54, it is characterized in that, set up threedimensional model by collected optical scanning data and X ray data.

56, according to the described method of claim 55, it is characterized in that, in order to set up described model, at least collected optical scanning data and X ray data transaction in the same coordinate system system.

57, according to claim 55 or 56 described methods, it is characterized in that, set up the ideal optimum configuration of graft and/or corona by described model.

58, according to each described method in the claim 55 to 57, it is characterized in that, by described model, set up the relative tertiary location and/or the space orientation of drill bit (1090A), drilling axis (1090C), drilling depth and/or initial space position (1996).

59, according to claim 57 or 58 described methods, it is characterized in that, build described corona according to described structure, and side by side utilize the treatment that undergos surgery of holing basically by the support of CAD/CAM.

60, a kind of pattern or structure on medical instrument, medical apparatus and/or medical apparatus and instruments is characterized in that described pattern is used to calibrate and/or detect the medical instrument of distortion, medical apparatus and/or medical apparatus and instruments.

61, second pattern on a kind of main body is characterized in that, uses described second pattern to produce the geometrical relationship with respect to first pattern on the described main body.