IMU Instrument Tracker for Guiding Interventional Procedures

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing methods for guiding interventional procedures, such as needle insertions, face limitations including high costs, complexity, and practical constraints like patient immobility, due to reliance on robotic systems, cone beam CT, laser guidance, optical tracking, electromagnetic tracking, and modality fusion techniques.

Innovation Solution

An instrument tracker system that incorporates an inertial measurement unit (IMU) with a magnetometer, accelerometer, and gyroscope, which provides real-time position and orientation data of an instrument relative to a predetermined insertion path, allowing for accurate tracking and visualization during interventional procedures.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If robotic systems with guidance systems are employed, then needle positioning accuracy is improved, but device complexity and cost increase

Engineering Contradiction:

Improveneedle positioning accuracyVSAvoidsystem complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent extracts the tracking functionality from complex robotic systems and implements it through a standalone instrument tracker with IMU sensors. This separates the guidance function from the robotic manipulation system, reducing overall system complexity while maintaining positioning accuracy through independent sensor-based tracking of the needle instrument.

Inventive Principle:

Principle #2Taking out (Extraction)

Solution Approach 2:

The patent replaces complex mechanical robotic guidance systems with an electronic sensor-based tracking system using IMU (inertial measurement unit) and magnetometer sensors. This substitution eliminates the need for complex mechanical guidance structures while achieving comparable or superior positioning accuracy through digital sensing and processing.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If optical tracking systems are used, then needle position monitoring is improved, but patient mobility is restricted due to line of sight requirements

Engineering Contradiction:

Improveneedle position monitoringVSAvoidpatient mobility

Core Design Contradiction:

Measurement precisionVSEase of operation

Solution Approach 1:

The patent replaces optical tracking systems that require line-of-sight camera paths with a magnetometer and IMU-based tracking system. These sensors detect magnetic fields and inertial forces without requiring visual line of sight, allowing the patient to move freely during the procedure while maintaining accurate needle position monitoring through magnetic field sensing.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Measurement precision

If electromagnetic tracking is used, then needle positioning accuracy is improved, but interference from metal or magnetic objects occurs

Engineering Contradiction:

Improveneedle positioning accuracyVSAvoidmagnetic interference

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The patent introduces an intermediary magnetic field as a carrier for position information. The instrument tracker contains a magnetometer that detects changes in the magnetic field caused by the position and orientation of the needle instrument. This magnetic field intermediary allows tracking without direct electromagnetic coupling, reducing interference from surrounding metal or magnetic objects in the clinical environment.

Inventive Principle:

Principle #24Intermediary (Mediator)

4Measurement precision

If cone beam CT techniques are used, then tip to target error is reduced, but needle size limitations occur

Engineering Contradiction:

Improvetip to target errorVSAvoidneedle size compatibility

Core Design Contradiction:

Measurement precisionVSAdaptability or versatility

Solution Approach 1:

The patent creates a universal tracking system that can accommodate various needle sizes and instrument types through the instrument tracker attachment. The IMU and magnetometer sensors in the tracker can detect position and orientation of different instruments regardless of their size, making the system versatile for various needle diameters and instrument configurations while maintaining accurate tip-to-target positioning.

Inventive Principle:

Principle #6Universality (Multi-functionality)

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 enhances the accuracy and precision of instrument positioning during interventional procedures, reduces the need for complex setups, and allows for real-time adjustments, thereby improving the safety and efficacy of the procedures.