Deformation Model Verification for Medical Fine-Adjustment Units
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Solution Overview
Problem
Medical procedures using elastically deformable fine-adjustment units face challenges in determining the spatial position of instruments without relying on medical tracking systems, particularly in confined spaces where line-of-sight issues prevent the use of optical tracking systems.
Innovation Solution
A computer-implemented method that acquires model data and actuator data to determine target deformation, compares it with actual deformation data, and verifies if the target deformation corresponds to the actual deformation, allowing for the calculation of the instrument's position using a model without tracking systems, and includes calibration procedures to adjust the model for accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical tracking systems are used to determine the spatial position of instruments, then measurement precision is improved, but device complexity and ease of operation worsen due to line-of-sight requirements and confined space limitations
Solution Approach 1:
The patent replaces optical tracking systems with a mechanical modeling approach. Instead of using optical markers and cameras to track instrument position, the system uses a deformable body model that calculates position based on actuator positions and stored deformation characteristics. This substitution eliminates line-of-sight requirements and enables use in confined spaces where optical systems cannot operate.
Solution Approach 2:
The patent changes the measurement parameters from optical marker coordinates to actuator position data. By measuring actuator positions and using pre-stored deformation characteristics, the system determines instrument position without optical tracking. This parameter change allows operation in environments where optical systems are infeasible.
2Measurement precision
If elastically deformable fine-adjustment units are used to achieve precise positioning, then positioning precision is improved, but reliability worsens due to uncertainty in deformation behavior
Solution Approach 1:
The patent performs preliminary characterization of the deformable body's mechanical properties before actual use. Deformation characteristics are measured and stored in advance for various actuator positions, creating a lookup table or model. During operation, the system reliably determines position by referencing these pre-stored characteristics rather than attempting to predict deformation in real-time, ensuring both precision and reliability.
3Measurement precision
If tracking markers are attached to the fine-adjustment unit for position determination, then measurement precision is improved, but device complexity increases due to additional components
Solution Approach 1:
The patent extracts and removes the optical tracking components (markers, cameras, illumination sources) from the system. Instead of using external optical tracking, the position determination functionality is achieved through the control system using actuator position data and stored deformation characteristics. This extraction eliminates the complexity of optical tracking hardware while maintaining positioning capability.
Data Source
AI summary
The present invention relates to computer-implemented medical method of verifying an expected deformation of an elastically deformable and actuator-adjusted medical fine-adjustment unit (1), the method comprising executing, on a processor of a computer, the steps of; —acquiring model data describing a model of the fine-adjustment unit (1), the model reflecting deformation properties of the fine-adjustment unit (1); —acquiring actuator data describing an actuator position of at least one actuator coupled to the fine-adjustment unit (1); —determining, based on the model data and the actuator data, target deformation data describing a target deformation of the fine-adjustment unit (1) caused by the at least one actuator at said actuator position; —acquiring actual deformation data describing an actual deformation of the fine-adjustment unit (1) caused by the at least one actuator at said actuator position; —determining, based on the target deformation data and the actual deformation data, verification data describing whether the target deformation corresponds to the actual deformation. The present invention further relates to a corresponding computer program causing a computer to perform such method, and a corresponding system comprising such a computer.