Adjustable Camera Referencing for Occlusion-Resilient Surgical Tracking
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Solution Overview
Problem
Conventional camera reference systems in surgical environments face disruptions due to blocking by surgeons, nurses, assistants, and equipment, leading to loss of tracking marker visibility and interference with navigation systems, which hampers efficient surgical guidance.
Innovation Solution
An adjustable camera reference system with floating reference sources that maintain tracking marker visibility by switching to alternative sources when blocked, ensuring continuous data and image provisioning to navigation systems for precise instrument and end effector guidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional camera reference systems are used with fixed main cameras, then the system structure is simple, but the tracking marker visibility is interrupted when blocked by personnel or equipment
Solution Approach 1:
The camera reference system is segmented into multiple independent camera units (main camera and floating reference cameras) that can independently track markers. This segmentation allows the system to maintain tracking capability even when one camera is blocked, as other cameras can continue to provide marker visibility.
Solution Approach 2:
The system transitions from a static fixed camera arrangement to a dynamic configuration where floating reference cameras can move and reposition themselves. This dynamic capability allows cameras to adapt to changing surgical environments and maintain optimal viewing angles of tracking markers despite personnel or equipment movement.
2Reliability
If multiple floating reference sources are added to maintain tracking visibility, then the reliability of navigation guidance is improved, but the device complexity increases
Solution Approach 1:
The floating reference cameras are designed to perform multiple functions: they serve as backup tracking cameras, provide alternative viewing angles, and can dynamically reposition to maintain marker visibility. This multi-functionality justifies the addition of multiple reference sources by maximizing their utility across different surgical scenarios.
Solution Approach 2:
The system incorporates feedback mechanisms where the navigation system continuously monitors tracking marker visibility and automatically activates or repositions floating reference cameras when blockage is detected. This feedback-driven operation ensures that additional reference sources are utilized only when necessary, optimizing the balance between reliability and complexity.
3Adaptability or versatility
If the camera reference system remains fixed during surgery, then the system is easier to operate, but it cannot adapt to moving personnel and equipment that block the view
Solution Approach 1:
The floating reference cameras are equipped with autonomous capabilities to detect blockages and reposition themselves without manual intervention. This self-service functionality allows the system to adapt to changing surgical environments automatically, maintaining tracking visibility while reducing the operational burden on surgical personnel.
Solution Approach 2:
The system performs preliminary positioning of floating reference cameras to anticipate potential blockages by personnel or equipment. By pre-positioning cameras to cover multiple potential viewing angles, the system proactively maintains tracking capability before blockages occur, enhancing adaptability while keeping operation simple.
Data Source
AI summary
An adjustable camera reference system and method for use thereof for maintaining guidance of a navigated instrument and/or an a navigated end effector during performance of surgery is provided. The adjustable camera reference system can employ one or more main reference cameras and various floating reference sources, and if views of various tracking markers positioned in an operating room by the one or more main reference cameras are interrupted or lost, data and images provided by one or more of the various floating reference sources can be hot-swapped or substituted for data and images of the various tracking markers provided by the one or more main reference cameras. One or more of the various tracking markers are attached relative to the navigated instrument and/or the navigated end effector, and by determining the locations thereof, the proper guidance of the navigated instrument and/or the navigated end effector can be maintained.