Optical Tracker for 3D Navigation and Reduction
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Solution Overview
Problem
Current navigation solutions fail to provide real-time tracking and precise reduction of hidden and difficultly exposed target bodies in both medical and industrial fields, relying on two-dimensional information and excessive radioactivity, which limits their effectiveness in accurately positioning and reducing fractures.
Innovation Solution
A control system and method incorporating a master control apparatus with an optical tracker and a tracing apparatus that converts preliminary images into real-time three-dimensional models, allowing for precise tracking and positioning of target bodies using a robotic arm with six degrees of freedom, enabling real-time three-dimensional navigation and reduction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two-dimensional intraoperative X-ray images are used for fracture reduction, then the reduction process can be performed with simple equipment, but the positioning precision and three-dimensional spatial relationship cannot be accurately determined
Solution Approach 1:
The patent transforms two-dimensional X-ray images into three-dimensional spatial information by introducing depth coordinates. The system establishes a three-dimensional coordinate system and maps fracture endpoints from 2D images to 3D space, enabling accurate spatial positioning and measurement of fracture parameters including length, angle, and displacement in three dimensions.
Solution Approach 2:
The patent introduces a coordinate system conversion module as an intermediary between the 2D imaging system and the 3D reduction process. This module performs coordinate transformation and spatial mapping, converting 2D image coordinates into 3D working space coordinates, thereby enabling precise 3D positioning without requiring complex direct 3D imaging equipment.
2Reliability
If real-time tracking of target body is implemented, then the reduction operation can be precisely controlled, but the system complexity and computational load increase
Solution Approach 1:
The patent implements real-time feedback tracking by continuously monitoring the position of the target body (fracture) during the reduction operation. The system updates the 3D coordinates and spatial relationships in real-time, providing feedback to control the robotic manipulation system to adjust its movements and achieve precise reduction while maintaining manageable system complexity through efficient coordinate transformation algorithms.
3Manufacturing precision
If six degrees of freedom robotic arm is used for manipulation, then the operation precision and positioning accuracy are improved, but the device complexity and control difficulty increase
Solution Approach 1:
The patent employs a six degrees of freedom robotic arm that can perform multiple functions including positioning, orientation, and manipulation of the target body. The robotic system is programmed with pre-planned reduction paths and real-time coordinate transformation capabilities, allowing it to handle complex 3D positioning tasks while maintaining operational simplicity through integrated control software.
4Measurement precision
If three-dimensional model conversion is performed in real-time, then the navigation accuracy is improved, but the computational time and processing load increase
Solution Approach 1:
The patent performs preliminary coordinate system establishment and transformation matrix calculation before the actual reduction operation. The 3D coordinate system is pre-configured based on the 2D X-ray images, and transformation relationships are pre-computed. During real-time operation, the system only needs to apply these pre-established transformations to updated coordinates, significantly reducing computational time while maintaining high navigation accuracy.
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 real-time tracking and precise reduction of target bodies by converting preliminary images into actual working spaces, providing accurate three-dimensional models for operators, thus overcoming the limitations of prior art in tracking and positioning hidden or difficultly exposed targets.
Implementation Method 1
the optical tracker is configured to obtain a geometric feature of the target body tracer in an actual working space
Data Source
AI summary
Control system for navigation and reduction operation including a master control apparatus having a host and an optical tracker; a tracing apparatus including a target body tracer arranged on a target body; the optical tracker is configured to obtain a geometric feature of the target body tracer in an actual working space; the host is configured to convert a preliminary image into an intermediate image by matching the preliminary image with the intermediate image, and to convert the preliminary image into the actual working space according to a geometric feature of the target body tracer in the intermediate image and the geometric feature of the target body tracer in the actual working space, to obtain a target pose of the operation apparatus in the actual working space, and to control an operation apparatus to move to the target pose for reduction. A method for navigation and reduction operation is provided.