US 12,472,004 B2
Surgical instrument and method for detecting the position of a surgical instrument
Timo Krüger, Berlin (DE); and Dirk Mucha, Nordbahn (DE)
Assigned to Fiagon GMBH, Hennigsdorf (DE)
Filed by Intersect ENT International GmbH, Hennigsdorf (DE)
Filed on Mar. 25, 2022, as Appl. No. 17/704,955.
Application 17/704,955 is a continuation of application No. 15/033,146, granted, now 11,357,574, previously published as PCT/EP2014/073493, filed on Oct. 31, 2014.
Claims priority of application No. 10 2013 222 230.0 (DE), filed on Oct. 31, 2013.
Prior Publication US 2023/0037993 A1, Feb. 9, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 90/98 (2016.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 90/98 (2016.02); A61B 2017/0046 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/3983 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A position detection system, comprising:
one or more surgical instruments, wherein each of the one or more surgical instruments comprises:
an elongate instrument handle having a proximal end and a distal end;
an elongate straight instrument shaft connected to the distal end of the instrument handle and defining an instrument axis, the instrument shaft having a proximal end and a distal end, the proximal end of the instrument shaft being connected to the instrument handle;
a first locator arranged at the instrument handle, wherein the first locator comprises a position sensor having two coils and configured to detect six degrees of freedom; and
a second locator arranged at the distal end of the straight instrument shaft adjacent to an instrument tip, said instrument tip comprising a work point, wherein the second locator comprises a position sensor having one coil, has smaller dimensions than the first locator, and is configured to detect five degrees of freedom, wherein the first locator is arranged closer to the proximal end of the handle than the second locator, wherein the second locator is arranged at a distance from the first locator closer to the work point; and
an electromagnetic field generator, correlated to a reference coordinate system;
an evaluation unit for establishing a position of the first and second locators arranged in the position detection system, wherein the evaluation unit is configured to determine an instrument-specific calibration vector from the second locator to the work point in a coordinate system of the first locator where the instrument shaft is straight relative to the instrument axis, and wherein the evaluation unit is further configured to determine a location and direction of the work point in the reference coordinate system by transforming a coordinate of the second locator in the reference coordinate system, displaced by the calibration vector, into the coordinate system of the first locator; and
a display unit for displaying at least one of the one or more surgical instruments in its true position.