Real-time electromagnetic localization system
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Solution Overview
Problem
Existing electromagnetic localization systems in surgical robotics and navigation are prone to measurement errors due to interference from disturbing materials, such as electrically conductive and magnetic materials, which are common in operating rooms, making them unreliable for precise surgical procedures.
Innovation Solution
A real-time electromagnetic localization system comprising a chain of locating units with transmitters and receivers operating at different frequencies, connected by mechanical links with known geometries, allowing for precise determination of transducer poses while minimizing interference from disturbing materials.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the working distance between transmitter and receiver is increased to accommodate surgical instrument distances (30-50 cm), then the surgical navigation coverage is improved, but the measurement precision deteriorates due to interference from disturbing materials such as electrically conductive and magnetic materials in the operating room
Solution Approach 1:
The system divides the localization function into multiple locating units, each consisting of a transmitter and receiver pair operating at different frequencies. By segmenting the measurement task across multiple frequency channels, the system can determine poses over larger distances while using the combined information from multiple units to compensate for disturbances from metallic materials in the operating room environment.
2Reliability
If multiple locating units operating at different frequencies are used to improve measurement reliability, then the system complexity increases
Solution Approach 1:
Each locating unit is designed with universal functionality to operate independently at its designated frequency. The transmitter and receiver pairs are configured to work in a standardized manner across different frequencies, allowing the system to maintain reliability through redundancy while managing complexity through modular, interchangeable components that follow common design principles.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system provides reliable, real-time localization with enhanced precision by reducing the working distance between transducers to avoid interference, enabling accurate navigation of surgical instruments despite the presence of disturbing materials.
Implementation Method 1
at least one locating transducer of each locating unit is a transmitter emitting at least one electromagnetic field
Implementation Method 2
at least one other locating transducer is a receiver receiving and measuring the electromagnetic field emitted by the transmitter
Implementation Method 3
Electrically conductive materials can give rise to eddy currents when these materials are placed in a varying magnetic field. The eddy currents that then circulate in this disturbing material in turn generate a disruptive magnetic field
Implementation Method 4
Magnetic materials (for example: ferromagnetic, diamagnetic, paramagnetic, antiferromagnetic, ferrimagnetic) can distort magnetic field they are placed in
Data Source
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AI summary
The invention relates to a real-time electromagnetic localization system comprising at least two locating units (10a, 10b, 10c, 10d) and a processing unit (5), each locating unit (10a, 10b, 10c, 10d) comprising at least two locating transducers (A, AA; B, BB, C, CC; D, AA), the processing unit (5) being adapted to: • - determine a pose of a first locating transducer (A) of a first locating unit (10a) with respect to a second locating transducer (AA) of the first locating unit (10a), • - determine a pose of a first locating transducer (B) of a second locating unit (10b) with respect to a second locating transducer (BB) of the second locating unit (10b), • - determine a pose of the first locating transducer (A) of the first locating unit (10a) with respect to the first locating transducer (B) of the second locating unit (10b) based on a mechanical link (L) formed between the first locating transducer (A) and the first locating transducer (B), • - determine a pose of the second locating transducer (AA) with respect to the second locating transducer (BB) based on • - the determined pose of the first locating transducer (A) with respect to the second locating transducer (AA); • - the determined pose of the first locating transducer (B) with respect to the second locating transducer (BB); • - the determined pose of the first locating transducer (A) with respect to the first locating transducer (B).