Optical-Inertial Navigation Tracking for Continuous Marker Positioning
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Solution Overview
Problem
Existing optical navigation systems face accuracy and speed limitations due to reliance on line-of-sight between LEDs and sensors, leading to delays and errors in surgical procedures, especially when line-of-sight is broken or when using active LEDs with sequential measurements.
Innovation Solution
Integration of optical sensors with non-optical sensors, such as gyroscopes and accelerometers, to provide continuous and accurate tracking by correlating optical and non-optical signals, allowing for precise determination of object position and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical navigation systems use sequential LED measurement, then measurement precision is improved, but speed and continuity of tracking deteriorate
Solution Approach 1:
The system uses multiple optical sensors to simultaneously detect multiple LEDs, eliminating sequential measurement delays. This allows continuous tracking without interruption, maintaining both precision and speed by having all sensors operate in parallel rather than sequence.
Solution Approach 2:
The patent transitions from one-dimensional sequential measurement to multi-dimensional simultaneous detection by deploying multiple optical sensors at different spatial positions. This allows the system to measure multiple LED positions concurrently, dramatically improving tracking speed while maintaining accuracy through geometric triangulation.
2Measurement precision
If optical navigation systems rely on line-of-sight between LEDs and sensors, then measurement precision is maintained, but reliability deteriorates when line-of-sight is blocked
Solution Approach 1:
The system integrates multiple types of sensors (optical sensors, accelerometers, gyroscopes) that can function independently or together. When optical line-of-sight is blocked, the inertial sensors continue to provide tracking data, ensuring reliability while maintaining precision through sensor fusion algorithms.
Solution Approach 2:
The system incorporates redundant sensing capabilities in advance. Multiple optical sensors are positioned to provide alternative line-of-sight paths, and inertial sensors are integrated as backup measurement systems, cushioning against the harmful effect of line-of-sight blockage before it disrupts tracking.
3Adaptability or versatility
If multiple trackers are used in the system, then adaptability and coverage are improved, but measurement precision deteriorates due to increased lag
Solution Approach 1:
The system pre-calculates and stores the spatial relationships and geometric configurations of all trackers and LEDs. This preliminary setup allows the real-time system to rapidly compute positions using pre-established geometric models, eliminating calculation lag even when multiple trackers are simultaneously monitored.
Solution Approach 2:
The patent replaces sequential mechanical measurement processes with parallel optical detection and computational algorithms. Multiple trackers are measured simultaneously through multiple optical sensors, and position calculations are performed using efficient geometric algorithms rather than sequential mechanical probing, eliminating lag while maintaining precision.
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
Enhances tracking accuracy and speed by providing continuous data even when line-of-sight is obstructed, reducing procedural delays and improving surgical precision.
Implementation Method 1
The optical sensors detect light emitted from trackers attached to the instrument and the anatomy. Each tracker has a plurality of optical emitters such as light emitting diodes (LEDs) that periodically transmit light to the sensors to determine the position of the LEDs.
Implementation Method 2
Integration of optical sensors with non-optical sensors, such as gyroscopes and accelerometers, to provide continuous and accurate tracking
Implementation Method 3
Integration of optical sensors with non-optical sensors, such as gyroscopes and accelerometers, to provide continuous and accurate tracking
Data Source
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AI summary
A navigation system comprises a localizer, a tracker for communicating with said localizer and including three markers and a non-optical sensor, and a computing system having at least one processor is described. The processor is configured to determine a position of each of said markers in a first coordinate system based on optical and non-optical signals, and match said positions of said markers and a calculated position of a virtual point in said first coordinate system with positions of said markers and said virtual point in a model of said tracker established relative to a second coordinate system to obtain a transformation matrix to transform said second coordinate system to said first coordinate system.