Fiber-Optical RealShape Sensor for Surgical Navigation Tracking
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Solution Overview
Problem
Current fluoroscopic imaging in surgical procedures, particularly in orthopedic surgeries, faces challenges such as high radiation exposure for both patients and surgeons due to two-dimensional projections of three-dimensional positions, and limitations in tracking small and flexible surgical instruments like K-wires using optical tracking systems.
Innovation Solution
The implementation of a Fiber-Optical RealShape (FORS) sensor system that allows for the tracking of both fluoroscopic imagers and surgical instruments within the operating space by attaching the sensor to the imager during image acquisition and to the instrument during navigation, using optical fibers with controlled grating patterns for shape reconstruction and position tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical tracking is used to track surgical instruments, then tracking capability is provided, but small and flexible instruments like K-wires cannot be tracked due to insufficient stiffness to infer tip position from proximal tracker
Solution Approach 1:
The patent replaces optical tracking with magnetic field-based tracking. Instead of using optical trackers that require line-of-sight and attach to rigid instruments, the invention embeds magnetic sensors within flexible instruments like K-wires. This allows the instrument itself to generate and be detected by magnetic fields, enabling tip position tracking regardless of instrument flexibility or orientation, thus resolving the contradiction between tracking precision and adaptability to small flexible instruments
Solution Approach 2:
The patent introduces magnetic fields as an intermediary between the surgical instrument and the tracking system. Magnetic sensors embedded in the instrument interact with magnetic fields to provide position information, serving as a mediator that enables tracking of flexible instruments without requiring rigid mechanical structures or optical line-of-sight, thereby allowing small flexible instruments to be tracked with precision
2Speed
If fluoroscopy is used for intra-operative imaging, then real-time imaging is provided, but ionizing radiation is imparted to patient and doctor
Solution Approach 1:
The patent introduces magnetic tracking as an intermediary system that provides real-time position information without requiring ionizing radiation. Instead of using fluoroscopy to continuously image and track instruments, the magnetic tracking system provides real-time positional data through magnetic field interactions, maintaining the speed benefit of real-time feedback while eliminating the harmful radiation exposure
Solution Approach 2:
The patent replaces the fluoroscopic imaging system with a magnetic tracking system for the specific function of instrument position monitoring. This substitution maintains real-time capability for surgical guidance but eliminates the ionizing radiation by using non-ionizing magnetic fields for tracking, thus resolving the contradiction between imaging speed and radiation exposure
3Object-affected harmful factors
If orthogonal 2D fluoroscopy views are obtained to gain 3D perspective, then radiation exposure is reduced compared to continuous 3D imaging, but workflow challenges arise and only one view is available at any point in time
Solution Approach 1:
The patent makes the magnetic tracking system universal by providing continuous three-dimensional position information for multiple instruments simultaneously. Unlike fluoroscopy which provides one 2D view at a time requiring rotation for orthogonal views, the magnetic tracking system delivers comprehensive spatial data for all tracked instruments at once, enabling surgeons to obtain multiple perspectives without rotating equipment or taking sequential images, thus improving workflow efficiency while maintaining low radiation exposure
Solution Approach 2:
The patent transitions from two-dimensional fluoroscopic views to three-dimensional magnetic tracking data. By embedding magnetic sensors in instruments and detecting their positions in three-dimensional space, the system provides full spatial information without requiring the rotation of C-arms to obtain orthogonal views, eliminating workflow challenges while maintaining minimal radiation exposure through the use of non-ionizing magnetic fields
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 solution provides real-time, three-dimensional tracking of surgical instruments and imagers, reducing radiation exposure and enabling more precise placement of instruments like K-wires and pedicle screws, while simplifying the workflow and reducing the need for multiple sensors.
Implementation Method 1
optical fibers with controlled grating patterns for shape reconstruction
Implementation Method 2
optical fibers with controlled grating patterns
Implementation Method 3
Fiber-Optical RealShape (FORS) sensor... for tracking... surgical instruments... using optical fibers with controlled grating patterns for shape reconstruction
Data Source
AI summary
A fluoroscopic surgical system employing a FORS sensor (40), a navigation controller (70), a fluoroscopic imager (30) and a mechanical connector (50) adjoined to the fluoroscopic imager (30). In operation, mechanical connector (50) is utilized to detachably attach FORS senor to fluoroscopic imager (30), whereby navigation controller (70) processes a shape reconstruction of FORS sensor (40) relative to a reference point fixed or movable within an operating space (20) for controlling a tracking of fluoroscopic imager (30) within the operating space (20). The system may further employ a surgical instrument (60) whereby, concurrently or subsequently to a fluoroscopic imaging of a patient anatomy, FORS sensor (40) is thereafter detached from fluoroscopic imager (30) and detachably attached to surgical instrument (60), or FORS sensor (40) is concurrently detachably attached to fluoroscopic imager (30) and surgical instrument (60). The navigation controller (70) processes an additional shape reconstruction of FORS sensor (40) relative to the reference point within the operating space (20) for controlling a tracking of surgical instrument (60) within the operating space (20).