Pose Measurement Chaining for Obstructed XR Surgical Navigation
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Solution Overview
Problem
Existing navigated surgery systems experience intermittent tracking pauses due to obstruction of tracking components by personnel and objects, affecting accuracy, robustness, and ergonomics.
Innovation Solution
Implementing an extended reality (XR) headset with tracking cameras that combine tracking information from multiple sources, including other XR headsets and auxiliary tracking bars, to enhance tracking robustness and range of motion through pose chaining operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single near infrared stereo camera setup is used for tracking, then the system structure is simple, but tracking robustness deteriorates due to obstructions by personnel and objects
Solution Approach 1:
The patent combines multiple tracking camera setups (including visible light and near infrared cameras) into a unified tracking system. This merging of multiple independent tracking systems allows the system to maintain robust tracking even when some cameras are obstructed, as other cameras can continue to track the surgical instruments and anatomical landmarks.
Solution Approach 2:
The tracking system is designed to perform multiple functions simultaneously by using different types of cameras (visible light and near infrared) that can operate in various lighting conditions and through different types of obstructions. This multi-functionality ensures reliable tracking regardless of the surgical environment.
2Reliability
If multiple tracking cameras are used to improve tracking robustness, then tracking performance improves, but system complexity and cost increase
Solution Approach 1:
The patent replaces complex mechanical tracking systems with a multi-spectral optical tracking system that uses both visible light and near infrared cameras. This substitution allows for more robust tracking without requiring complex mechanical adjustments or additional physical infrastructure.
Solution Approach 2:
The system uses a composite approach by combining different types of cameras (visible light and near infrared) into a unified tracking system. This composite multi-camera system leverages the complementary strengths of each camera type to achieve reliable tracking in diverse surgical environments.
3Measurement precision
If tracking components are positioned for optimal accuracy, then measurement precision improves, but ergonomics and range of motion are compromised
Solution Approach 1:
The patent adds the near infrared spectrum dimension to the traditional visible light tracking system. This dimensional addition allows the system to maintain accurate tracking without constraining camera positions, as near infrared cameras can penetrate obstructions and provide tracking information from different effective perspectives.
Data Source
AI summary
A surgical system includes a camera tracking system that determines a first pose transform between a first object coordinate system and the first tracking camera coordinate system based on first object tracking information from the first tracking camera which indicates pose of the first object. The camera tracking system determines a second pose transform between the first object coordinate system and the second tracking camera coordinate system based on first object tracking information from the second tracking camera indicating pose of the first object, and determines a third pose transform between a second object coordinate system and the second tracking camera coordinate system based on second object tracking information from the second tracking camera indicating pose of the second object. The camera tracking system determines a fourth pose transform between the second object coordinate system and the first tracking camera coordinate system based on combining the first, second, and third pose transforms.