Marker Array Disassembly via Geometry Modification
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Solution Overview
Problem
During surgical procedures, there is a risk of mechanical interference between surgical tools and marker arrays attached to patients, and marker arrays can become dirty, hindering detection by localization cameras. Additionally, safely disassembling marker arrays from array fixations without causing large movements that could harm patients or surgeons is challenging.
Innovation Solution
A method for safely disassembling a marker array from an array fixation involves actuating a mechanism that selectively modifies the array geometry to prevent tracking by the localization camera. This can be achieved by separating parts of the marker array, moving parts relative to each other, or using a movable member to mask markers, ensuring that disconnection only occurs when the array geometry is modified to be undetectable.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the marker array is rigidly attached to the array fixation for stable tracking, then the localization accuracy is improved, but the risk of mechanical interference with surgical tools and injury from large movements during disassembly increases
Solution Approach 1:
The patent applies preliminary action by modifying the array geometry to be undetectable before disconnecting the marker array from the array fixation. The control system detects the disconnection state and proactively changes the array geometry configuration to prevent detectable marker patterns, thereby preventing large robotic movements that could cause injury while maintaining stable tracking during the disconnection process
Solution Approach 2:
The patent implements dynamics by making the array geometry modifiable between detectable and undetectable configurations. The control system dynamically adjusts the array geometry based on the connection state - maintaining a detectable configuration when connected for accurate tracking, and switching to an undetectable configuration when disconnected to prevent harmful large movements
2Productivity
If the marker array is kept in a detectable geometry for continuous tracking, then the real-time localization is improved, but the ability to safely disconnect without triggering large movements deteriorates
Solution Approach 1:
The system performs preliminary action by detecting the disconnection state and proactively modifying the array geometry to undetectable configuration before large movements can occur. This ensures safe disconnection while maintaining continuous real-time localization during the connected state
Solution Approach 2:
The control system uses feedback by continuously monitoring the connection state between the marker array and array fixation. Based on this feedback, the system automatically adjusts the array geometry - maintaining detectable configuration for real-time localization when connected, and switching to undetectable configuration when disconnected to enable safe operation
3Reliability
If the marker array geometry is modified to prevent tracking, then the safety during disconnection is improved, but the real-time localization capability deteriorates
Solution Approach 1:
The patent applies dynamics by making the array geometry dynamically adjustable between detectable and undetectable states. The geometry is modified to undetectable configuration only when needed for safety during disconnection, while maintaining detectable geometry for real-time localization capability during surgical procedures
Solution Approach 2:
The system performs preliminary action by proactively modifying the array geometry to undetectable configuration upon detecting disconnection, ensuring safety before any harmful movements can occur, while preserving real-time localization capability when the array is properly connected
Data Source
AI summary
The disclosure relates to a method for disassembling a marker array (10) comprising at least three optical markers (100) arranged according a determined array geometry configured to be tracked by a localization camera from an array fixation (11) to which the marker array (10) is connected, the method comprising, prior to or during disconnecting the marker array (10) from the array fixation (11), actuating a mechanism configured to selectively modify the array geometry so as to unable tracking of the marker array by the localization camera.