Surgical Tool Tracking via Flexible IMU

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Current surgical tool tracking systems require a direct line of sight, which limits their effectiveness in confined spaces and can lead to orientation errors, impacting surgical planning and precision during minimally invasive procedures.

Innovation Solution

Integration of a lightweight 9 degree-of-freedom Inertial Measurement Unit (IMU) with surgical tools, printed on flexible circuits, enables real-time tracking of spatial and temporal movements without the need for direct visual cues, using a combination of accelerometers, gyroscopes, and magnetometers for precise motion tracking.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If visual markers and optical tracking systems are used to track surgical tools, then real-time feedback and surgical navigation are improved, but direct line of sight is required which limits effectiveness in confined spaces

Engineering Contradiction:

Improvesurgical tool tracking accuracyVSAvoideffectiveness in confined spaces

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The patent replaces optical tracking systems with magnetic field-based tracking. Instead of using visual markers and cameras that require line of sight, the invention uses magnetic sensors and magnetic field generators to track surgical tool positions and orientations through tissue, enabling tracking in confined spaces without direct visual access.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent introduces magnetic fields as an intermediary medium for tracking. Magnetic field generators embedded in surgical tools interact with magnetic sensors in the imaging system, allowing indirect tracking of tool positions through anatomical structures without requiring direct line of sight between the tool and external cameras.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Productivity

If visual markers are used for surgical tool tracking, then real-time feedback is provided, but bulky equipment and expensive infrastructure are required

Engineering Contradiction:

Improvereal-time feedback capabilityVSAvoidbulkiness of tracking equipment

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The patent extracts the tracking functionality from bulky external optical systems and integrates it directly into the surgical imaging equipment. The magnetic field generators are embedded within the surgical tools themselves, and the tracking data is processed by the existing imaging system computer, eliminating the need for separate expensive optical tracking infrastructure.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The patent makes the surgical imaging system multi-functional by integrating both imaging and tracking capabilities into a single system. The same computer that processes imaging data also processes magnetic tracking data, and the system can perform both surgical imaging and tool tracking without requiring separate dedicated equipment.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Measurement precision

If optical tracking systems are used, then surgical navigation is improved, but registration errors and accuracy limitations persist

Engineering Contradiction:

Improvesurgical navigation accuracyVSAvoidregistration error consistency

Core Design Contradiction:

Measurement precisionVSReliability

Solution Approach 1:

The patent replaces optical tracking with magnetic field-based tracking to eliminate registration errors associated with visual markers. Magnetic fields provide continuous tracking data without requiring marker placement or calibration, reducing registration errors and improving reliability of surgical navigation throughout the procedure.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

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

This approach allows for accurate, real-time tracking of surgical tool positions and orientations within confined spaces, improving surgical planning and reducing user error by providing continuous motion feedback without the constraints of direct line-of-sight requirements.

Implementation Method 1

IMUs measure a body's force, angular rate, and orientation through a combination of accelerometers, gyroscopes, and magnetometers

Methodology Applied

Scientific EffectAccelerometer: Accelerometer

Implementation Method 2

IMUs measure a body's force, angular rate, and orientation through a combination of accelerometers, gyroscopes, and magnetometers

Methodology Applied

Scientific EffectGyroscope: Gyroscope

Implementation Method 3

IMUs measure a body's force, angular rate, and orientation through a combination of accelerometers, gyroscopes, and magnetometers

Methodology Applied

Scientific EffectMagnetometer: Magnetometer

Data Source

PatentUS20220096169A1Tracking of instrument motions using an inertial measurement system

Publication Date: 2022.03.31 CARNEGIE MELLON UNIV

AI summary

Disclosed herein is system, including a hand-held tool, for example, a surgical scalpel, integrated with a 9 degree-of-freedom inertial measurement unit and a method for tracking the location of the hand-held instrument during manual or robotically-assisted procedures. The system and method has application in the surgical field, wherein instrumented surgical instruments may be precisely tracked throughout a surgical procedure.