Fiducial Shape Sensor Tracking for Minimally Invasive Procedures

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Solution Overview

Problem

Existing electromagnetic navigation systems for minimally invasive medical procedures are prone to magnetic interference from surgical equipment, leading to tracking errors and making them unsuitable in certain environments.

Innovation Solution

A medical tracking system utilizing a fiducial apparatus with a sensor docking feature and imageable fiducial markers, combined with shape sensors, allows for precise tracking of interventional instruments by registering their pose and shape relative to a patient's anatomy, independent of electromagnetic interference.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If electromagnetic navigation systems are used for tracking interventional instruments, then navigation capability is provided, but magnetic interference from surgical equipment causes tracking errors

Engineering Contradiction:

Improvetracking precisionVSAvoidmagnetic interference

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The patent replaces electromagnetic tracking systems with a mechanical/optical fiducial marker-based tracking system. Shape sensors mechanically coupled to fiducial markers provide tracking through physical registration rather than electromagnetic fields, eliminating susceptibility to magnetic interference from surgical equipment while maintaining navigation precision.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Reliability

If electromagnetic navigation systems are used, then navigation functionality is achieved, but the system becomes unreliable in environments with magnetic interference

Engineering Contradiction:

Improvenavigation reliabilityVSAvoidmagnetic interference

Core Design Contradiction:

ReliabilityVSObject-affected harmful factors

Solution Approach 1:

The system substitutes electromagnetic navigation with a mechanical fiducial marker registration system. Shape sensors are physically coupled to fiducial markers that are mechanically registered to anatomical landmarks, providing reliable tracking that is independent of electromagnetic environmental conditions.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Measurement precision

If fiducial markers and shape sensors are used for tracking, then tracking accuracy is improved, but device complexity increases

Engineering Contradiction:

Improvetracking accuracyVSAvoidsystem complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The fiducial markers serve multiple functions: they provide registration landmarks for aligning the shape sensor data with anatomical structures, serve as reference points for pose estimation, and enable correlation between different coordinate systems. This multi-functionality reduces the need for separate calibration components, offsetting the added complexity.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentEP4049706A1Shape sensor systems for tracking interventional instruments and methods of use

Publication Date: 2022.08.31 INTUITIVE SURGICAL OPERATIONS INC

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AI summary

A medical tracking system comprises a fiducial apparatus that includes a sensor docking feature configured to mate with a mating portion of a sensor device. The sensor docking feature retains the mating portion in a known configuration. The fiducial apparatus also includes at least one imageable fiducial marker and a surface configured for attachment to an anatomy of a patient.