Navigation Stick Marker Positioning Without a Surgical Tracker
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Solution Overview
Problem
Conventional spatial positioning methods in surgical navigation systems require a host, tracker, and a tracking tool with an infrared emitting apparatus and stereo camera, limiting flexibility and increasing costs.
Innovation Solution
A spatial positioning method and apparatus using a navigation stick with a marker point array, where a terminal obtains images, determines marker point coordinates, and establishes a spatial transformation relationship to position the stick without a tracker, allowing arbitrary movement and reduced device count.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If conventional spatial positioning method using tracker and tracking tool is adopted, then positioning accuracy is maintained, but device complexity and cost increase
Solution Approach 1:
The patent extracts and eliminates the tracker and tracking tool from the conventional surgical navigation system. Instead of using a separate tracking tool with infrared emitting apparatus, the invention integrates positioning functionality directly into the surgical instrument itself through marker points, thereby reducing device complexity while maintaining positioning accuracy through direct optical tracking of the instrument's position
Solution Approach 2:
The surgical instrument is given dual functionality: it performs both the surgical function and the positioning function simultaneously. The marker points on the instrument serve as both identification markers for tracking and as part of the instrument structure itself, eliminating the need for separate tracking devices and reducing overall system complexity
2Ease of operation
If tracker and tracking tool are used for spatial positioning, then positioning function is achieved, but movement flexibility is limited
Solution Approach 1:
The patent removes the constraint of requiring the tracking tool to move within a fixed tracking range of a stationary tracker. By eliminating the tracker and using distributed marker points on the surgical instrument itself, the system allows the instrument to move freely throughout the surgical field without being constrained by a fixed tracking zone, thereby improving movement flexibility
Solution Approach 2:
The system transitions from a static tracker-based tracking approach to a dynamic marker point system where the positioning markers are attached to the moving surgical instrument itself. This allows the positioning system to dynamically follow the instrument's movement anywhere in the surgical field without requiring the instrument to return to a fixed tracking range
3Ease of manufacture
If multiple devices (host, tracker, tracking tool) are used, then positioning functionality is achieved, but cost increases
Solution Approach 1:
The patent extracts and eliminates the expensive tracker component from the system architecture. By using relatively inexpensive marker points attached to the surgical instrument and a standard camera for tracking, the system achieves comparable positioning functionality at lower cost, reducing the overall system bill of materials while maintaining reliability through direct optical tracking
Solution Approach 2:
The marker points used in the invention are relatively simple, inexpensive components that can be attached to or integrated with the surgical instrument. These marker points serve as disposable or single-use positioning elements that eliminate the need for expensive, complex tracking tools while maintaining sufficient positioning reliability for the duration of the surgical procedure
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
Improves movement flexibility and reduces costs by eliminating the need for additional devices, expanding the spatial positioning range and enhancing usability.
Implementation Method 1
obtaining an image from a camera by photographing a target scene, the image including a navigation stick located in the target scene
Implementation Method 2
determining three-dimensional position coordinates of marker points included in the image in a three-dimensional coordinate system corresponding to the navigation stick according to marker point information in the image
Data Source
AI summary
This application discloses a spatial positioning method and related apparatus, and a navigation stick. The method includes: determining three-dimensional position coordinates of marker points on an outer surface of the navigation stick included in an image from a camera in a three-dimensional coordinate system corresponding to the navigation stick according to marker point information; determining position information of the camera in the three-dimensional coordinate system corresponding to the navigation stick; determining a spatial transformation relationship between the three-dimensional coordinate system corresponding to the navigation stick and a three-dimensional coordinate system corresponding to the camera; and determining, based on three-dimensional position coordinates of a to-be-detected position of the navigation stick in the three-dimensional coordinate system corresponding to the navigation stick and the spatial transformation relationship, spatial position information of the to-be-detected position of the navigation stick for spatial positioning.