Determination of deformations of surgical tools

Details Determination of deformations of surgical tools Determination of deformations of surgical tools

A - Human Necessities

61

B

A61B 17/00 (2006.01) A61B 17/16 (2006.01) A61B 19/00 (2006.01) G01B 7/16 (2006.01) G01B 11/16 (2006.01) G01D 5/28 (2006.01) G05B 19/00 (2006.01)

Patent

CA 2427702

The method of determining deformations of instruments having a tool (5) with a central axis (26) and a tool holder (8) comprises the steps of establishing a mathematical relationship between the tool holder (8) and the body (3), displacing the tool (5) relative to the body (3), determining the relative position and spatial orientation of the tool (5) with respect to the body (3), establishing mechanical contact between the tool (5) and the body (3) and/or entering the body (3) with the tool (5) and determining the deformation of the tool (5) with respect to the virtual, non-deformed tool (5) resulting from the load application onto the tool (5). The measurements in order to determine the deformation of the tool (5) may be performed on the one hand by measuring the position and orientation of the tool holder (8) and the body (3) with respect to an on-site three-dimensional system of coordinates (6) or on the other hand by means of forces gauges (32) apt to measure the loads being effective on the tool holder (8).

L'invention concerne un procédé de détermination de déformations d'instruments présentant un outil (5) muni d'un axe central (26) et d'un porte-outil (8). Le procédé consiste à établir une relation mathématique entre le porte-outil (8) et le corps (3); à déplacer l'outil (5) relativement au corps (3); à déterminer la position relative et l'orientation spatiale de l'outil (5) par rapport au corps (3); à établir un contact mécanique entre l'outil (5) et le corps (3) et/ou enfoncer l'outil (5) dans le corps (3) pour déterminer la déformation de l'outil (5) relativement à l'outil (5) virtuel non déformé résultant de l'application de charge sur l'outil (5). Les mesures visant à déterminer la déformation de l'outil (5) peuvent être effectuées, d'une part par mesure de la position et de l'orientation du porte-outil (8) et de l'outil (5) relativement à un système de coordonnées tridimensionnel sur place (6), ou, d'autre part, au moyen d'indicateurs de force (32) pouvant mesurer les charges s'exerçant effectivement sur le porte-outil (8).

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