DETERMINATION OF DEFORMATION OF SURGICAL TOOLS

摘要

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).