Composite Totem Pattern Tracking for Surgical Navigation
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Solution Overview
Problem
Surgical navigation systems face challenges in accurately tracking objects when reference markers are visually imperceptible due to factors like out-of-focus or small marker sizes, or when a subset of markers is not captured in images.
Innovation Solution
The use of a reference body with a substrate and a first layer affixed to it, featuring a plurality of totem patterns with unique identifiable features. These totem patterns can be detected individually or in combination as a composite pattern, allowing for accurate tracking even when individual features are indiscernible.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If reference markers are made small to reduce interference, then device complexity is reduced, but measurement precision deteriorates because markers become visually imperceptible
Solution Approach 1:
The reference marker is segmented into multiple totem patterns arranged in specific geometric configurations. Each totem pattern contains unique identifiable features that can be detected individually. This segmentation allows the system to detect the marker composition even when individual totem patterns are small or partially obscured, resolving the contradiction between small marker size and detection precision.
Solution Approach 2:
The reference marker uses a composite structure combining multiple totem patterns with distinct visual characteristics (different shapes, sizes, colors, or arrangements). This composite design creates a unique marker composition that can be identified through pattern recognition algorithms, enabling accurate detection even when individual components are imperceptible, thus maintaining measurement precision while allowing smaller overall marker size.
2Measurement precision
If individual totem patterns are made distinct with unique features, then measurement precision is improved, but device complexity increases due to multiple pattern requirements
Solution Approach 1:
The totem patterns are designed with universal geometric shapes and arrangements that can be detected by standard optical imaging systems. Each totem pattern serves multiple functions: individual identification, spatial positioning, and orientation determination. This multi-functionality reduces the need for complex unique features while maintaining precise object identification through the systematic arrangement of standardized patterns.
3Reliability
If the surgical navigation system uses composite totem patterns for tracking, then reliability is improved when individual markers are imperceptible, but device complexity increases due to additional processing requirements
Solution Approach 1:
The surgical navigation system implements feedback mechanisms where the detection system continuously monitors the visibility and discernibility of totem pattern features. When individual features become imperceptible, the system automatically transitions to using composite totem pattern recognition. This feedback-based adaptive approach ensures reliable tracking while optimizing processing complexity by only applying composite pattern analysis when necessary.
Data Source
AI summary
A method and device for tracking objects by surgical navigation systems. The method includes: capturing an image of the tracked object; determining whether a unique identifiable feature associated with at least one totem pattern is discernible in the image; when the unique identifiable feature is discernible: determining a position or an orientation of the tracked object based on the at least one totem pattern; and registering the at least one totem pattern in the surgical coordinate space; and when the unique identifiable feature is indiscernible: determining a position of each totem pattern relative to other totem patterns such that a combination of totem patterns within the captured image is a marker group detectable as a composite totem pattern; determining a position or an orientation of the tracked object based on the composite totem pattern associated with the tracked object; and registering the composite totem pattern in the surgical coordinate space.