Method and system for frameless tool calibration

摘要

The intraoperative calibration of an arbitrary surgical instrument relative to a surgical navigation digitizing system is achieved by a calibration guide. The calibration guide is established in position and orientation relative to the digitizing system coordinate system. The surgical instrument is aligned to the calibration guide during calibration to establish its probe and end orientation in the digitizer coordinates. The instrument carries a marker structure which is trackable in the digitizer coordinates to enable tracking by rigid-body transformation of the instruments probe and end position after calibration in the calibration guide.