Surgical Instrument Tracking Constellation for Marker Visibility
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Solution Overview
Problem
Existing mediated reality systems face challenges in tracking surgical instruments when markers are out of view or move relative to the object, leading to diminished accuracy.
Innovation Solution
A tracking constellation with a support and markers angled relative to the instrument, using varying standoff heights to maintain visibility to an overhead tracking system and reduce manufacturing errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If markers are mounted directly on the instrument, then the tracking system can identify the instrument, but the markers may be out of view or move relative to the object, leading to diminished tracking accuracy
Solution Approach 1:
The patent introduces a third dimension by mounting markers at different heights (z-axis offsets) from the instrument surface, creating a constellation configuration. This vertical arrangement ensures that at least some markers remain visible to the tracking system regardless of the instrument's orientation, resolving the contradiction between tracking accuracy and marker visibility consistency.
Solution Approach 2:
The tracking system is divided into multiple discrete markers arranged in a constellation pattern rather than using a single marker. This segmentation allows the system to maintain tracking capability even when individual markers are occluded, as the tracking system can reconstruct the instrument position from the relative positions of multiple visible markers.
2Reliability
If markers are positioned to always face the tracking system, then visibility is improved, but the structure becomes more complex with varying standoff heights
Solution Approach 1:
The constellation structure serves multiple functions simultaneously: it provides consistent marker visibility, enables accurate 6-degree-of-freedom tracking, and compensates for instrument orientation changes. By making the marker array serve these multiple purposes, the added structural complexity is justified by the significant improvements in tracking reliability and accuracy.
3Device complexity
If markers are placed close to the instrument surface, then the tracking system can maintain a compact design, but manufacturing errors and marker movement relative to the object increase
Solution Approach 1:
By utilizing the z-axis (vertical dimension) to offset markers from the instrument surface, the patent creates spatial separation between the markers and the instrument body. This vertical arrangement reduces the impact of manufacturing tolerances and marker movement, as the markers are positioned at standardized heights that are easier to manufacture with consistent precision compared to surface-mounted markers.
Data Source
AI summary
Tracking constellations for use with surgical instruments, and associated systems and methods, are disclosed herein. In some embodiments, a tracking constellation includes (i) a support, (ii) a plurality of first standoffs extending from the support to a first height, and (iii) a plurality of second standoffs extending from the support to a second height different than the first height. The tracking constellation can further include a plurality of markers mounted to corresponding ones of the first standoffs or the second standoffs. The markers can lay in a common plane. The support can extend at a generally orthogonal angle to an instrument when the tracking constellation is coupled to the instrument such that the common plane is angled relative to the instrument.