Inertial Sensor Tracking for Organ Deformation in Surgery
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Solution Overview
Problem
Existing systems for detecting and tracking the position and deformation of body organs during surgical procedures lack real-time precision and synchrony with the visual field of medical staff, and are hindered by occlusions and inadequate precision in intraoperative contexts.
Innovation Solution
A detection and tracking apparatus using inertial sensors, such as accelerometers and gyroscopes, to provide absolute or time-differential data for organ position and deformation, integrated with a wearable display device to overlay a three-dimensional augmented reality image, allowing real-time synchronization and tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If camera-based systems or motion capture systems with fiducial markers are used to detect organ position and deformation, then visual information can be obtained, but occlusions occur and precision is insufficient in intraoperative contexts
Solution Approach 1:
The patent replaces optical-based detection systems (cameras, motion capture) with an inertial sensing system that uses accelerometers and gyroscopes to detect organ position and deformation. This mechanical substitution eliminates occlusion problems because inertial sensors measure acceleration and orientation directly without requiring line-of-sight visual tracking, thereby improving measurement precision in the intraoperative environment.
Solution Approach 2:
The patent introduces an intermediary computational model that integrates inertial sensor data with preoperative imaging data (CT or MRI) to reconstruct organ position and deformation. This intermediary processing layer combines the real-time inertial measurements with anatomical context from imaging, resolving the occlusion issue by not relying on direct visual observation of the organ surface.
2Measurement precision
If diagnostic body imaging techniques such as X-rays, CT, or MRI are used to detect organ position and deformation, then satisfactory detection precision can be achieved, but the equipment is not compatible with intraoperative context and results are not available in real-time
Solution Approach 1:
The patent performs preliminary action by acquiring high-precision anatomical data from preoperative CT or MRI scans before the surgical procedure. These preoperative images serve as a detailed reference model of the organ's structure and position. During surgery, inertial sensors provide real-time motion data that is integrated with this pre-established anatomical model, combining the precision of diagnostic imaging with the real-time capability needed for intraoperative use.
Solution Approach 2:
The patent transitions from static diagnostic imaging to a dynamic system by continuously updating the organ position and deformation state during surgery. Inertial sensors capture real-time acceleration and orientation data, which are integrated over time to track dynamic changes in organ position and shape, enabling real-time productivity while maintaining the precision of preoperative imaging data.
3Productivity
If inertial sensors are used to detect organ position and deformation, then real-time data can be obtained, but the sensors must be coupled to the organ which requires mechanical fixation
Solution Approach 1:
The patent applies universality by using a rigid coupling mechanism that serves multiple functions: it mechanically fixes the inertial sensors to the organ for stable real-time detection, while simultaneously acting as a reference frame for coordinate transformation between sensor data and anatomical coordinate systems. This multi-functional coupling reduces overall device complexity by combining fixation and reference functions in one structure.
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
Enables precise, real-time tracking and overlay of three-dimensional augmented reality images with organ position and deformation, enhancing surgical precision and reducing costs by eliminating the need for camera-based or radio signal systems.
Implementation Method 1
A detection and tracking apparatus uses inertial sensors, such as accelerometers and gyroscopes, to provide absolute or time-differential data for organ position and deformation
Data Source
Figure 1
AI summary
A detection and tracking apparatus for detecting and tracking the position and/or deformation of a body organ subject to manipulation, comprising at least one processing unit, in communication with a receiving unit and with a wearable and/or portable display device, performing the following steps: a) determining a representation of the position and/or deformation of the organ; b) associating a three-dimensional augmented reality image of the organ with the representation of the position and/or deformation thereof; c) overlaying the three-dimensional augmented reality image with the position and/or deformation of the organ through the display device; d) tracking the position and/or deformation image in correspondence with the position and/or deformation of the organ of which the three-dimensional augmented reality image is a representation, comparing the information about the position and/or deformation associated with that position and/or deformation with a plurality of predefined models of position and/or deformation of the position and/or deformation.