Multi-Level Positional Tracking with Internal EM Sensors
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Solution Overview
Problem
Existing computer-assisted surgical systems require invasive processes to map and track patient anatomy, limiting their use in minimally invasive surgical procedures.
Innovation Solution
The use of electromagnetic (EM) tracking systems with small diameter sensors inserted via needles or pins, combined with fiber optic shape sensing (FOSS), allows for precise tracking of patient anatomy and instruments without the need for extensive bone incisions, and incorporates augmented reality for real-time surgical guidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional computer-assisted tracking systems are used to map and track patient anatomy, then measurement precision is improved, but the invasiveness of the procedure increases
Solution Approach 1:
The patent replaces traditional mechanical/optical tracking systems with electromagnetic tracking. Small electromagnetic sensors can be inserted through needle-sized punctures rather than requiring extensive bone incisions or marker attachment procedures. The electromagnetic field penetrates tissue without physical contact, enabling precise 3D localization of anatomical structures and surgical instruments while minimizing tissue disruption.
Solution Approach 2:
The patent changes the physical state and properties of tracking components by using electromagnetic fields instead of mechanical markers. The tracking system utilizes electromagnetic sensor properties (inductance, capacitance, resonant frequency) that can be detected through minimally invasive needle insertions. This parameter change from mechanical to electromagnetic domain enables the contradiction resolution.
2Object-affected harmful factors
If minimally invasive sensors are used, then tissue disruption is reduced, but measurement precision may be compromised
Solution Approach 1:
The patent creates an electromagnetic field-based copy or representation of the physical anatomical structures. Instead of physically attaching large markers to bones, the system inserts small electromagnetic sensors that generate detectable field signatures. These electromagnetic copies allow precise virtual modeling and tracking of anatomical landmarks without the physical burden of traditional markers, maintaining precision while minimizing invasion.
Solution Approach 2:
The patent transitions from 3D physical space tracking to 4D electromagnetic field space tracking. By utilizing electromagnetic field properties (adding the field dimension), the system can locate small needle-inserted sensors with high precision in three-dimensional space. The electromagnetic dimension provides additional information channels that compensate for the reduced physical size of sensors.
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 minimally invasive surgical procedures with enhanced accuracy and reduced tissue disruption, facilitating precise instrument placement and implant alignment.
Implementation Method 1
The use of electromagnetic (EM) tracking systems with small diameter sensors inserted via needles or pins
Implementation Method 2
combined with fiber optic shape sensing (FOSS), allows for precise tracking of patient anatomy and instruments
Data Source
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Figure 3A~3C
AI summary
Disclosed herein are various systems and methods for an improved minimally invasive surgical tracking system. As disclosed herein, a computer assisted surgical system (CASS) may include an internal tracking device that obtains relative locational data of one or more surgical tools not trackable via a global tracking system. The internal tracking device having an external portion that is trackable global tracking system. Based on the known characteristics and location of the internal tracking device the CASS determines the location of the one or more surgical tools relative to the patient and other objects in the operating room.