REGISTRATION AND IDENTIFICATION TOOL AND METHOD FOR A DENTAL AND/OR CRANIO-MAXILLOFACIAL SURGICAL INSTRUMENT AND/OR GENERAL SURGICAL INSTRUMENT

Abstract

A registration and identification tool (1) for an instrument (100), comprising a body (2), a marker member (3) which is optically detectable and provided on the body (2), and a recess (4) in the body (2) which extends from an outer surface of the body (2) into the inside of the body (2), thereby defining an extension direction of the recess (4), wherein the recess (4) has a shape such that a lateral extension of the recess (4) decreases in the direction from the outer surface of the body (2) towards the inside of the body (2). A method for registration and identification of an instrument (100) comprising by placing a surgical tool (102) of the surgical instrument (100) into the recess (4) of the tool (1), pivoting the surgical instrument (100) relative to the marker member (3) while the surgical tool (102) is placed inside the recess (4), performing a detecting process of the relative movement of the surgical instrument (100), and identifying geometrical characteristics of the surgical tool (102) and/or registering the relative position of the surgical tool (102) to the remainder of the surgical instrument (100) using the results of the detecting process.

Claims

1. A registration and identification tool for a dental and/or cranio-maxillofacial surgical instrument and/or general surgical instrument, comprising: a body, a marker member which is optically detectable, the marker member being provided on the body, and a recess in the body which extends from an outer surface of the body into the inside of the body, thereby defining an extension direction of the recess, wherein the recess has a shape such that a lateral extension of the recess decreases in the direction from the outer surface of the body towards the inside of the body.

2. The registration and identification tool according to claim 1, wherein the marker member includes a plurality of marker elements arranged in at least one, two-dimensional pattern, thereby defining at least one marker member plane.

3. The registration and identification tool according to claim 2, wherein the recess has a conical shape in the extension direction of the recess, which is substantially parallel to the marker member plane.

4. The registration and identification tool according to claim 2, wherein the extension direction of the recess is substantially perpendicular to the marker member plane.

5. The registration and identification tool according to claim 1, wherein the recess is a first recess and the body is provided with a second recess that extends from the outer surface of the body into the inside of the body.

6. The registration and identification tool according to claim 5, wherein the outer surface of the body is a first outer surface of the body and the first recess is open to a second outer surface of the body that is substantially perpendicular to the first outer surface of the body.

7. The registration and identification tool according to claim 6, wherein the first and second recesses have different depths from the second outer surface of the body in a direction parallel to the first outer surface of the body and perpendicular to the extension direction of the first recess.

8. The registration and identification tool according to claim 2, wherein a center of the recess is located on or extends along a virtual line that is substantially perpendicular to the marker member plane and intersects the marker member centrically in the widthwise direction.

9. The registration and identification tool according to claim 2, further comprising a reference pin, wherein a center of the reference pin is located on a virtual line that is perpendicular to the marker member plane and intersects the marker member centrically in the widthwise direction.

10. The registration and identification tool according to claim 1, wherein the surgical instrument includes a drill or a milling cutter.

11. The registration and identification tool according to claim 1, wherein the marker member is detachable from the body.

12. The registration and identification tool according to claim 2, wherein the plurality of marker elements is configured to be detectable by one or more stereoscopic camera units, and/or one or more 3D scanners of an imaging unit.

13. The registration and identification tool according to claim 2, wherein the plurality of marker elements includes a first set of marker elements located on a first surface of the marker member and a second set of marker elements located on a second surface of the marker member that is opposite and substantially parallel to the first surface.

14. The registration and identification tool according to claim 13, wherein the first set of marker elements is arranged in a first two-dimensional pattern and the second set of marker elements is arranged in a second two-dimensional pattern, wherein the first and second two-dimensional patterns are different from each other.

15. A registration and identification system for a dental and/or cranio-maxillofacial surgical instrument and/or general surgical instrument, comprising: a registration and identification tool for a dental and/or cranio-maxillofacial surgical instrument and/or general surgical instrument including a body, a marker member which is optically detectable, the marker member being provided on the body, and a recess in the body which extends from an outer surface of the body into the inside of the body, thereby defining an extension direction of the recess wherein the recess has a shape such that a lateral extension of the recess decreases in the direction from the outer surface of the body towards the inside of the body, and an imaging unit that is configured to image the marker member, wherein the imaging unit is attachable to the surgical instrument.

16. The registration and identification system according to claim 15, further comprising a processing unit, that stores information about a relative orientation and/or position between the marker member and the recess.

17. The registration and identification system according to claim 16, wherein the marker member includes a plurality of marker elements arranged in at least one two-dimensional pattern, thereby defining at least one marker member plane wherein the registration and identification system further comprises a reference pin, wherein a center of the reference pin is located on a virtual line that is perpendicular to the marker member plane and intersects the marker member centrically in the widthwise direction, and wherein the processing unit further stores information about a relative orientation and/or position between the marker member and the reference pin.

18. A navigation system for dental and/or cranio-maxillofacial and/or general surgery, comprising: a registration and identification tool for a dental and/or cranio-maxillofacial surgical instrument and/or general surgical instrument, including: a body, a marker member which is optically detectable, the marker member being-provided on the body, and a recess in the body which extends from an outer surface of the body into the inside of the body, thereby defining an extension direction of the recess, wherein the recess has a shape such that a lateral extension of the recess decreases in the direction from the outer surface of the body towards the inside of the body, the surgical instrument, and an imaging unit which is movably attached to the surgical instrument.

19. A method for registration and/or identification of a dental and/or cranio-maxillofacial surgical instrument and/or general surgical instrument using a registration and identification tool including a body a marker member which is optically detectable, the marker member being provided on the body, and a recess in the body which extends from an outer surface of the body into the inside of the body, thereby defining an extension direction of the recess, wherein the recess has a shape such that a lateral extension of the recess decreases in the direction from the outer surface of the body towards the inside of the body, the method comprising: placing a surgical tool of the surgical instrument into the recess of the registration and identification tool, pivoting the surgical instrument relative to the marker member while the surgical tool is placed inside the recess, performing a detecting process of the relative movement of the surgical instrument, and identifying geometrical characteristics of the surgical tool and/or registering the relative position of the surgical tool to the remainder of the surgical instrument using the results of the detecting process.

20. The method for registration and/or identification according to claim 19, wherein the detecting process is performed by an imaging unit, that is attached to the surgical instrument wherein the imaging unit performs the detecting process by imaging the marker member.

21. A method of using a registration and identification tool including a body, a marker member which is optically detectable, the marker member being-provided on the body, and a recess in the body which extends from an outer surface of the body into the inside of the body, thereby defining an extension direction of the recess, wherein the recess has a shape such that a lateral extension of the recess decreases in the direction from the outer surface of the body towards the inside of the body, the method comprising: placing a surgical tool of the surgical instrument into the recess of the registration and identification tool, pivoting the surgical instrument relative to the marker member, while the surgical tool is placed inside the recess, performing a detecting process of the relative movement of the surgical instrument, and identifying geometrical characteristics of the surgical tool and/or registering the relative position of the surgical tool to the remainder of the surgical instrument using the results of the detecting process.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0067] Hereinafter, non-limiting examples of the invention are explained with reference to the drawings, in which:

[0068] FIG. 1 shows a schematic perspective view of a registration and identification tool according to an embodiment of the present invention;

[0069] FIG. 2 shows a schematic cross-sectional view of the registration and identification tool shown in FIG. 1;

[0070] FIG. 3 shows a top schematic view of the registration and identification tool shown in FIG. 1;

[0071] FIG. 4 shows a schematic cross-sectional view from the left side of the registration and identification tool shown in FIG. 1;

[0072] FIG. 5 shows a schematic front view of a surgical instrument which forms part of a navigations system according to an embodiment of the present invention;

[0073] FIGS. 6a and 6b show illustrations of the use of the recesses 4a and 4d for the registration and/or identification of a dental drill according to a method/use of an embodiment of the present invention;

[0074] FIGS. 7a and 7b show illustrations of the use of the recesses 4a and 4d for registration and/or identification of a dental drill according to a method/use of an embodiment of present invention in a schematic cross-sectional view from the front side;

[0075] FIG. 8 shows a schematic perspective view of a navigation system according to an embodiment of the present invention; and

[0076] FIG. 9 shows a block-diagram illustrating a method for registration and/or identification of a dental drill according to an embodiment of present invention.

DETAILED DESCRIPTION OF CURRENTLY PREFERRED EMBODIMENTS

[0077] FIG. 1 shows a schematic perspective view of a registration and identification tool according to a currently preferred embodiment of the present invention.

[0078] The registration and identification tool 1 for a dental and/or cranio-maxillofacial surgical instrument and/or general surgical instrument 100, comprises a body 2, a marker member 3 which is optically detectable, the marker member 3 being detachably provided on the body 2, and a plurality of recesses 4a-e in the body 2, each of which extends from an outer surface of the body 2 into the inside of the body 2, thereby defining an extension direction of each of the recesses 4a-e, wherein each of the recesses 4a-e has a shape such that a lateral extension of the recess 4a-e decreases in the direction from the outer surface of the body 2 towards the inside of the body 2. The different recesses 4a-e and their purposes will be explained in detail below.

[0079] Moreover, the registration and identification tool 1 comprises a reference pin 5 which is provided in front of the marker element 3.

[0080] As shown in FIG. 4, which shows a schematic cross-sectional view from the left side of the registration and identification tool shown in FIG. 1, the marker element 3 comprises a plurality of marker elements 3-1, 3-2 which are arranged in a two-dimensional pattern, thereby defining a marker member plane 3c.

[0081] In FIG. 2, which shows a schematic cross-sectional view of the registration and identification tool shown in FIG. 1, it is recognizable that the registration and identification tool 1 comprises two marker elements 3a and 3b. The two marker elements 3a and 3b are provided on two opposite sides of the marker element 3 which are parallel to each other.

[0082] Further, the marker element 3 is placed substantially in the centre of the body 2, thereby dividing the body 2 in a front and a rear part. On the front part of the body 2 which has a substantially semi-circular shape, the reference pin 5 and two recesses 4d and 4e of the recesses 4a-e are provided. On the rear part of the body 2 the three recesses 4a to 4c of the recesses 4a-e are provided. The reference pin 5 and the recess 4d are both provided in the middle of the body 2 in the widthwise direction of the body 2. The recesses 4a to 4c are provided symmetrically to the middle of the body 2 in the widthwise direction of the body 2, wherein the central recess 4b of the recesses 4a to 4c is provided in the middle of the body 2 in the widthwise direction.

[0083] As can be taken from FIG. 2, the recess 4d is rather short in the extension direction of the recess, in particular shorter than the recesses 4a to 4c and has a conical shape in an extension direction of the recess 4d. In the shown embodiment, the extension direction of the recess 4d corresponds to the vertical direction of FIG. 2.

[0084] Moreover, as shown in FIGS. 2 and 4, the recesses 4a to 4c are each provided with a substantially planar bottom, wherein the planar bottom of each of the recesses 4a to 4c is parallel to a planar bottom of the body 2 and substantially perpendicular to the marker element plane 3c. Additionally, as can be seen in FIGS. 2 and 3, the recesses 4a to 4c are open to two outer surfaces of the body 2, wherein the two outer surfaces of the body 2 are substantially perpendicular to each other. However, the two recesses 4d and 4e are only open to one outer surface of the body 2, in particular open to a top surface of the body 2.

[0085] Accordingly, the extension direction of the recesses 4d and 4e is parallel to the marker element plane 3c. On the other hand, as can be seen, in particular, in FIG. 3, the extension direction of the recesses 4a to 4c is substantially perpendicular to the marker member plane 3c. Hence, the extension direction of the recesses 4a to 4c is substantially perpendicular to the extension direction of the recesses 4d and 4e.

[0086] Moreover, the recesses 4a to 4c have a wedge shape, as can be seen in FIG. 3, which means the recesses are constituted by two substantially planar surfaces that are arranged opposite to each other at an angle relative to each other and a distance between the two planar surfaces decreases along the extension direction of the recess, in particular from left to right in the view of FIG. 3.

[0087] In the context of the present invention, the extension direction of the recesses 4a to 4e defines the direction of each of the recesses 4a to 4e, in which the respective recess 4a-e has shape such that in the extension direction of the recesses 4a to 4e the lateral extension of the recesses 4a to 4e decreases.

[0088] Accordingly, the lateral extension of the recesses 4d and 4e decreases in the vertical direction, in particular in the top-bottom direction in the view of FIG. 2 and the lateral extension of the recesses 4a to 4c decreases in the horizontal direction, in particular in the left-right direction in the view of FIGS. 2 and 3.

[0089] Moreover, as shown in FIG. 4, the three recesses 4a to 4c have different depths from the outer surface of the body 2, in particular from the top surface in a direction that is substantially perpendicular to the extension direction of the recess 4a to 4c and substantially perpendicular to the marker member plane 3c.

[0090] FIG. 5 shows a schematic front view of a surgical instrument 100 which forms part of the above described navigations system. The surgical instrument 100 comprises the imaging unit 101 which forms part of the registration and identification system. Moreover, the surgical instrument 100 and the imaging unit 101 form part of the navigation system of the invention. Moreover, said registration and identification system further comprises a processing unit (not shown).

[0091] FIGS. 6a and 6b show illustrations of the use of the recesses 4a and 4d for the registration and or identification of a surgical tool, namely a dental drill 102.

[0092] As shown in FIG. 6a, a dental drill 102 with a spherical tip is inserted into the conical recess 4d. Since the recess 4d is conical and the outer diameter of the spherical tip of the dental drill 102 is bigger as the smallest lateral extension of the recess 4d, the dental drill 102 cannot be inserted fully into the recess 4d. In other words, the spherical surface of the spherical tip comes substantially in line contact with the surface of the conical recess 4d, wherein the line contact has substantially a circular shape.

[0093] As the conical shape of the recess 4d is known, in particular the diameter of the recess 4d in relation to the distance from the outer surface of the body 2, it is possible to determine or calculate the diameter of the spherical tip of the dental drill 102 when it is known how deep the centre of the spherical tip was inserted into the conical recess 4d.

[0094] FIG. 6a additionally shows, that in case of a dental drill 102 with a spherical tip or with a cylindrical tip (not shown) the dental drill 102 can be substantially pivoted in two spatial directions and rotated in one spatial direction which is perpendicular to the other two spatial directions.

[0095] Accordingly, it is possible to pivot the surgical instrument 100, into which the dental drill 102 is inserted, in two spatial directions, while the tip of the dental drill 102 is placed in the recess 4d. Hence, it is possible to pivot the surgical instrument relative to the marker member 3 and performing simultaneously a detecting process of the relative movement of the surgical instrument, in particular by an imaging unit 101 of the surgical instrument 100.

[0096] On the other hand, FIG. 6b shows the use of the recesses 4a to 4c, in particular the use of the recess 4a. As shown in FIG. 4a, the recesses 4a to 4c are intended for the use of registering and/or identifying surgical tool tools 102, in particular dental drills, with a cylindrical shape or a conical shape (not shown). In order to adjust the depth of the recess 4a-c to the length of the cylindrical tip of the dental tool 102, the recesses 4a to 4c are provided with different depths, as explained before with respect to FIG. 4. Accordingly, it can be avoided that the tip of the dental tool 102 cannot reach the bottom of the recess 4a-c or the length of the tip of the cylindrical head is too long so a large part of the tip cannot be inserted into the recess 4a-c, which would lead to instability and wrong measurement and/or detection results.

[0097] As the tapered shape of the recess 4a to 4c is known, in particular the lateral extension of the recesses 4a-c in relation to the distance from the outer surface of the body 2 (left outer surface of the body 2 in FIG. 3), it is possible to determine or calculate the diameter of the cylindrical tip of the dental drill 102 when it is known (detected by the imaging unit, will be explained in detail with respect to FIG. 7 below) how deep the centre of the cylindrical tip was inserted into the tapered recesses 4a-c. In other words, the diameter of the cylindrical tip of the dental drill 102 is determined based on how far the centre of the cylindrical tip could be inserted from the left side of the body 2 to the right side thereof.

[0098] Moreover, in case a drill head 102 with a conical shape is placed or inserted into the recesses 4a to 4c, when monitoring the pivoting of the drill head 102 about a tilted axis, which is substantially perpendicular the marker member plane 3c and substantially parallel to the extension direction of the recesses 4a to 4c, it becomes possible to determine the angle of the conus of the drill head 102.

[0099] FIGS. 7a and 7b show illustrations of the use of the recesses 4a and 4d for registration and/or identification of a dental drill according to a method/use of an embodiment of present invention in a schematic cross-sectional view from the front side. As can be seen in both FIGS. 7a and 7b, because of the positional arrangement of the recesses 4a to 4e, the respective recess 4a-e is always easily accessible from the top of the body 2 and the surgical instrument 100 can be held during the registration and identification of the dental tool 102 in a comfortable substantially horizontal position. Moreover, as the recesses 4a to 4e are accessible from the tope, the correct placement of the dental tool 102 into the respective recess 4a-e can easily be visually inspected and/or monitored.

[0100] FIG. 8 shows a schematic perspective view of a navigation system 200 according to an embodiment of the present invention. The navigation system 200 comprises the surgical instrument 100 and the registration and identification tool 1. Moreover, the navigation system 200 comprises the imaging unit 101 which forms part of the registration and identification system.

[0101] FIG. 9 shows a block-diagram illustrating a method for registration and/or identification of a dental drill according to an embodiment of present invention.

[0102] In the following the method for registration and/or identification of a dental drill will be described by referring to the block-diagram shown in FIG. 9.

[0103] In order to enable the registration and identification system, which comprises the registration and identification tool 1 and the imaging unit 101 which is attached to the surgical instrument 100, to register and/or identify an dental tool 102 which is inserted into the surgical instrument 100, it is necessary to perform a calibration of the registration and identification system.

[0104] Accordingly, at first the calibration process of the registration and identification system will be explained below. After the explanation of the calibration process the method for registering and identifying a surgical tool 102 by using the registration and identification system of present invention will be explained.

[0105] Calibration of the Registration and Identification System:

[0106] In step 1 of the calibration process of the registration and identification system, the empty surgical instrument 100 is placed onto the registration and identification system. In particular, no surgical tool 102 is installed (inserted) into the surgical instrument, that is, a tool holder of the surgical instrument 102 is empty. Hence, it is possible to place the tool holder of the surgical instrument 102 onto the reference pin 5 of the registration and identification tool 1, which is formed to correspond to a shaft of the surgical tool 102 that can be inserted into and clamped by the tool holder.

[0107] After placing the surgical instrument 100 with the tool holder onto the reference pin 5, step 2 of the calibration process is performed. In step 2, a detection process is performed. The detecting process can be performed during the surgical instrument 100 is not moved. In this way it is possible to calibrate the relative orientation and position between the imaging unit 101 and the marker member 3. Additionally, it is possible to determine (calculate) the relative orientation and position between imaging unit 101 and the tool holder of the surgical instrument 100.

[0108] However, it is also possible to perform the detecting process during the surgical instrument 100 is pivoted. Here and also in the following pivoting is performed preferably in a circular manner, that is, the surgical instrument is substantially circulated around a vertical axis, which is in case of the calibration process an axis that is coaxial with a longitudinal axis of the reference pin 5. In this way it is possible to teach the imaging unit 101/processing unit the influence of a relative movement (pivoting and/or circulating) of the surgical instrument 101 on the detecting results of the marker member 3.

[0109] In step 3 the calibration of the registration and identification system is performed using the detection results of the detecting process. After step 3 is completed, the registration and identification system is ready for use.

[0110] Registration and/or Identification of a Dental Tool

[0111] As after completing step 3 the system is ready for use, in step 4 for a dental tool 102 is inserted into the tool holder of the surgical instrument 100 and clamped.

[0112] In step 5 the surgical instrument 100 is placed again onto the registration and identification tool. In particular, the tip of the dental tool 102 is inserted into one of the recesses 4a-e. As the dental tool 102 of present example has a tip with a spherical shape, the dental tool 102 is placed into recess 4d.

[0113] In step 6 a pivoting of the surgical instrument 100 relative to the marker member 3 is performed, while the dental tool 102 is placed inside the recess 4d. As explained above, the dental tool 102 used in this example is a dental tool 102 with a spherical tip. Hence, it is necessary to perform step 6, in particular the pivoting. In case of a dental tool 102 with a cylindrical shape, in particular a dental tool 102 with a tip that has a cylindrical shape, it is not necessary to perform step 6, that is, it is not necessary to perform a pivoting of the surgical instrument 100.

[0114] In step 7 a detecting process of the relative movement of the surgical instrument 100 relative to the marker member 3 is performed.

[0115] After the detecting process of the relative movement is completed, step 8 is performed. In step 8 the registration and/or identification of the dental tool 102 is performed using the detection results of the detecting process. In particular, based on the detecting results of the detecting process the processing unit can determine the geometrical characteristics of the dental tool 102. Moreover, based on the detecting results of the detecting process it is also possible for the processing unit to determine the relative position of the dental tool 102 to the remainder of the surgical instrument 102.

[0116] The foregoing embodiments and their variants have been disclosed for illustrative purposes only, and further variation is wholly possible within the capabilities of the skilled reader. Accordingly, the appended claims are intended to cover all modifications, substitutions, alterations, omissions and additions which one skilled in the art could achieve from the foregoing disclosure, taking into account his own general and specialist knowledge and expertise.