Binary-Coded Optical Tracking Marker for Surgical Instruments
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Solution Overview
Problem
Existing optical tracking systems face challenges in miniaturizing and lightening markers for precise surgical applications, leading to increased size and weight issues with multiple markers attached to surgical instruments, which can hinder surgical precision and efficiency.
Innovation Solution
An optical tracking system utilizing a marker with a pattern of binary-coded sequences, including aperiodic sequences arranged in a predetermined order, allowing for the use of one or more small markers to track the location and posture of a target with improved accuracy and reduced size, using capturing units and processors to process pattern images for precise location and posture determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If three or more markers are attached to a target to accurately track location and posture, then measurement precision is improved, but device complexity and weight increase
Solution Approach 1:
The marker is divided into multiple rows of binary-coded sequences, where each row contains aperiodic sequences that are repeatedly arranged. This segmentation allows the marker to encode multiple pieces of information (location and posture) within a single compact structure, eliminating the need for multiple separate markers while maintaining tracking precision.
Solution Approach 2:
The patent transitions from using multiple separate markers in three-dimensional space to encoding all necessary tracking information within a two-dimensional pattern of binary sequences. By arranging aperiodic sequences in multiple rows with varying bit lengths, the system captures both location and posture data in a single planar marker, reducing spatial complexity.
2Measurement precision
If multiple markers are attached to surgical instruments for tracking, then location and posture measurement accuracy is improved, but weight and size increase hindering surgical efficiency
Solution Approach 1:
The patent merges the functions of multiple markers into a single integrated marker structure. By combining location encoding and posture encoding within one marker through multiple rows of binary sequences, the system achieves the tracking accuracy previously requiring multiple separate markers, thereby reducing overall weight and simplifying attachment to surgical instruments.
Solution Approach 2:
The patent uses parameter changes in the binary-coded sequences, specifically varying the number of bits in sub-sequences across different rows, to encode multiple dimensions of information (location and posture) simultaneously. This allows a single marker to provide comprehensive tracking data that previously required multiple markers, reducing weight while maintaining measurement precision.
3Ease of operation
If a compact marker design is used to reduce size and weight, then ease of operation is improved, but measurement precision may deteriorate
Solution Approach 1:
The patent applies local quality by making different rows of the binary-coded sequence have different properties - specifically, different numbers of bits in their sub-sequences. This allows each row to serve a specific encoding function while collectively providing comprehensive tracking information, maintaining precision despite the compact single-marker design.
Solution Approach 2:
The marker uses a composite structure combining multiple types of binary-coded sequences with different bit lengths arranged in rows. This composite encoding scheme allows the compact marker to convey multiple layers of information (location coordinates and posture angles) simultaneously, maintaining measurement precision while minimizing marker size for ease of surgical operation.
Data Source
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AI summary
The present disclosure provides a marker with a pattern formed thereon, which includes an optical system. At least a part of the pattern that uniquely appears depending on a direction in which the pattern is viewed from an outside of the marker through the optical system, is visually identified from the outside of the marker. The pattern includes a plurality of rows of binary-coded sequences. The binary-coded sequence of each of the plurality of rows includes aperiodic sequences that are repeatedly arranged. The aperiodic sequences included in the binary-coded sequence of one row of the plurality of rows are different from the aperiodic sequences included in the binary-coded sequence of another row of the plurality of rows, and each of the aperiodic sequences includes a plurality of sub-sequences that are arranged in a predetermined order.