Operating pointer with interactive computergraphics

Abstract

This invention relates to any operating pointer or arm apparatus whose position can be detected and read out on a computer and associated graphics display, and where the pointer can be changed from its pointer function to a '3D mouse' so as to alternately by use control the functionality of the computer as in calibration and display features. Specific embodiments of the invention are given, and one of them is a neurosurgical operating arm which has electronic readout for coupling to a computergraphic display which shows the position of the arm relative to patient anatomy. In one embodiment, the arm has five angular degrees of freedom to achieve a pointer position anywhere in space, at any angle. Electronic readout from the arm positions and joint angles are assimilated into a computegraphic display system. The display system displays anatomical image data taken from the patient with modern imaging techniques. Calibration steps are described to relate the initialization and the patient-related calibrations of the operating arm during surgery. A manual or footswitch control changes the operating arm from a space pointer to a '3D Mouse' that enables easy surgeon interaction with the computergraphics and control thereof. A unique arm geometry is described with specific joint and linkage configurations. In addition, a means for skin or skull-based fiducial system or a bite or dental impression-based frame with localizer rods for providing fiducial points is described for intraoperative calibration of the arm relative to the patient's anatomy. Other embodiments of pointers involving optical or ultrasonic detection are given as examples.