Medical Object Spatial Position Tracking via Coordinate Transformation
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Solution Overview
Problem
Optical tracking systems in surgical environments face challenges with 'line of sight' issues as the number of surgical instruments to be tracked increases, making it difficult to maintain a permanent line of sight to the markers of each object and the reference array.
Innovation Solution
A method that determines the spatial position of objects by acquiring position data within a first coordinate system, transforming it into a second coordinate system, and then into an inertial coordinate system, allowing for accurate tracking without the need for a permanent line of sight or additional tracking references.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical tracking systems are used to track multiple surgical instruments, then the ability to track object position is improved, but line of sight requirements become more difficult to maintain
Solution Approach 1:
The patent introduces a reference array as an intermediary element that mediates between the optical tracking system and the surgical instruments. The reference array provides stable reference points that enable position calculation without requiring direct line of sight to each instrument, allowing the system to track objects through obstacles or around corners by using the reference array as an intermediate reference framework.
Solution Approach 2:
The patent transitions from two-dimensional image-based tracking to three-dimensional spatial coordinate transformation. By establishing a reference array in physical space and creating corresponding reference points in image space, the system performs coordinate transformations that enable tracking beyond direct line of sight, effectively adding a spatial dimension to the tracking capability.
2Adaptability or versatility
If the number of tracked objects increases, then the comprehensive tracking capability is improved, but the complexity of maintaining line of sight to all objects and reference array increases
Solution Approach 1:
The reference array serves multiple functions simultaneously: it provides reference points for position calculation, establishes the coordinate system framework, and enables tracking of multiple objects without requiring individual line of sight to each object. This multi-functionality reduces the overall complexity of managing multiple tracked objects.
Solution Approach 2:
The patent creates a virtual copy of the physical reference array in image space through detection of reference points. This virtual reference framework allows the system to perform coordinate transformations and track objects without requiring physical line of sight to each object, thereby reducing the complexity of managing multiple tracked objects.
3Measurement precision
If a reference array is used to establish coordinate system, then the accuracy of spatial position determination is improved, but the requirement for simultaneous detection of both objects and reference array increases complexity
Solution Approach 1:
The reference array is pre-configured in physical space before the tracking begins. The corresponding reference points are pre-established in the image coordinate system. This preliminary setup allows the system to perform coordinate transformations without requiring simultaneous detection of both the reference array and tracked objects, reducing the detection complexity requirement.
Data Source
AI summary
The present invention relates to a method for determining the spatial position of objects, in particular medical objects. First position data is acquired that describes a spatial position of an object in a first coordinate system. First transformation data is acquired that transforms the object's position from the first coordinate system to a second coordinate system. Based on the foregoing data, second position data is acquired that specifies the spatial position of the object in the second coordinate system. Second transformation data is acquired that transforms the object's position from the second coordinate system to an inertial coordinate system. Based on the second position data and the second transformation data, inertial position data is determined that specifies a position of the object in the inertial coordinate system.