Optical Navigation System with Reflecting Device for Obstructed Line of Sight
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Solution Overview
Problem
Optical navigation systems in medical robotics face challenges in determining the position of an anatomy of interest when a direct line of sight between optical markers and sensors is obstructed, such as by a practitioner or the medical robot itself.
Innovation Solution
An optical navigation system comprising a patient reference with multiple optical markers, a locating device with optical sensors, and a reflecting device, where the system can measure optical radiation parameters directly or via reflection to determine the position of the anatomy of interest even when the line of sight is obstructed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If direct line of sight is used between optical markers and sensors, then measurement precision is improved, but reliability deteriorates when obstacles block the path
Solution Approach 1:
The patent introduces a reflecting device as an intermediary element between the optical markers and sensors. When the direct line of sight is blocked by obstacles (practitioner, robot arm, or patient anatomy), the optical radiation from the markers reflects off this intermediate surface to reach the sensors, maintaining continuous position tracking without requiring direct visibility.
2Reliability
If multiple optical sensors and markers are positioned to avoid obstacles, then reliability is improved, but device complexity increases
Solution Approach 1:
The reflecting device serves multiple functions: it acts as a backup optical path when direct visibility is blocked, provides additional geometric constraints for position calculation, and can be positioned in locations that do not interfere with the surgical procedure. This multi-functional element improves reliability without requiring multiple separate systems.
3Reliability
If electromagnetic navigation system is used as backup, then reliability is improved, but manufacturing precision and cost increase due to metallic interference sensitivity
Solution Approach 1:
The patent replaces electromagnetic field-based navigation with an optical reflection-based system. By using optical radiation reflection instead of electromagnetic field propagation, the system avoids sensitivity to metallic materials present in the surgical environment (robot motors, surgical instruments, implants), eliminating the harmful interference effect while maintaining navigation reliability.
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 accurate determination of the anatomy's position in three-dimensional space, allowing for precise positioning of medical instruments despite obstacles, thereby enhancing the reliability and precision of minimally invasive medical procedures.
Implementation Method 1
the optical sensors are configured to measure, for each optical marker of the patient reference, a parameter representative of the position of said optical marker in the frame of reference of the locating device, on the basis of optical radiation coming from said optical marker
Implementation Method 2
When a direct line of sight between the patient reference and an optical sensor is cut by an obstacle, the optical sensors are configured to measure, for each optical marker of the patient reference, a parameter representative of the position of said optical marker in the frame of reference of the locating device, on the basis of optical radiation coming from said optical marker and having a path reflected by the reflecting device toward each optical sensor
Data Source
AI summary
The invention relates to an optical navigation system for determining the position of a patient's anatomy of interest. The system comprises a locating device having at least two optical sensors and a patient reference having at least three optical markers. The system also comprises a reflecting device. When the line of sight between the patient reference and an optical sensor is intersected by an obstacle, the optical sensors are configured to measure, for each optical marker of the patient reference, a quantity representing the position of said optical marker in the frame of reference of the locating device from optical radiation originating from said optical marker and having a path reflected by the reflecting device to each optical sensor.