AR Headset Navigation for Robotic Surgery
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Solution Overview
Problem
Current computer-assisted navigation systems in surgery face usability and ergonomics challenges, requiring surgeons to turn away from the patient, relying on others to operate equipment, and experiencing intermittent pauses due to obstruction issues during tracking.
Innovation Solution
An augmented reality (AR) headset is integrated with the surgical system, allowing surgeons to view and manipulate patient images and navigation information, control surgical equipment, and receive steering information for surgical tools, enabling hands-free operation and improved visualization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If a traditional navigation display system is used, then navigation information can be displayed, but the surgeon must turn away from the patient and surgical instrument to view the information
Solution Approach 1:
The patent transitions navigation information from a separate 2D display screen to a 3D spatial overlay directly in the surgeon's field of view through augmented reality goggles. This dimensional shift allows the surgeon to perceive navigation cues in the same spatial plane as the patient and surgical instruments, eliminating the need to turn away from the surgical site.
Solution Approach 2:
The augmented reality goggles serve as an intermediary device that bridges the gap between the navigation system and the surgeon. Instead of requiring the surgeon to directly interact with a separate display system, the goggles mediate by projecting navigation information into the surgeon's natural field of view, maintaining continuous engagement with the patient and surgical instruments.
2Extent of automation
If existing navigation systems are used, then navigation functionality is provided, but reliance on other personnel to operate software functions is required
Solution Approach 1:
The system enables the surgeon to independently operate navigation functions through direct interaction with the augmented reality interface. The surgeon can manually adjust navigation parameters, select tools, and control surgical instruments through gestures or controls within the AR environment, eliminating the need for dedicated technical personnel to operate software functions.
Solution Approach 2:
The augmented reality goggles serve multiple functions: displaying navigation information, providing surgical tool control interfaces, enabling real-time imaging, and facilitating communication with the robotic system. This multi-functionality consolidates what previously required separate specialized equipment and personnel into a single universal interface that the surgeon can operate independently.
3Measurement precision
If traditional tracking systems are used, then pose tracking is provided, but intermittent pauses occur when objects obstruct the tracking ability
Solution Approach 1:
The system uses magnetic field sensors as an intermediary tracking mechanism that can penetrate through obstacles unlike optical cameras. The magnetic sensors detect reference markers on the patient, surgical instruments, and robotic components through the body and surrounding objects, maintaining continuous pose tracking even when line-of-sight is blocked by anatomical structures or surgical tools.
Solution Approach 2:
The patent replaces optical-based tracking (which requires direct line-of-sight) with magnetic field-based tracking. This substitution of the tracking mechanism allows the system to ignore physical obstructions, as magnetic fields can pass through tissues and objects that block optical paths, ensuring continuous and reliable pose measurement throughout the surgical procedure.
Data Source
AI summary
A surgical robot positions an end effector that guides movement of a surgical tool during a surgical procedure on a patient anatomical structure. A tracking system determines a pose of the anatomical structure and a pose of the end effector and/or the surgical tool. A navigation controller determines a target pose for the surgical tool based on a surgical plan and based on the pose of the anatomical structure, and generates steering information based on the target pose for the surgical tool, the pose of the anatomical structure, and the pose of the surgical tool and/or the end effector. The steering information indicates where the surgical tool and/or the end effector need to be moved. An AR headset controller receives the steering information from the navigation controller and displays a graphical representation of the steering information and/or the target pose for the surgical tool on a see-through display screen.