Sensor-Based Surgery Set Position Tracking
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Solution Overview
Problem
Current surgical systems face challenges in accurately and reliably determining the position and orientation of holding devices for surgical instruments during operations, especially under complex conditions, and require time-consuming calibration and reliance on external position determination systems.
Innovation Solution
A sensor-based surgery set with an initialization station and sensors that can be calibrated and aligned in a common reference direction, allowing for precise detection of the position and orientation of holding devices without the need for external optical units, enabling reliable and reproducible tracking of surgical instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If video sequence analysis is used for calibration and registration, then the coupling of movement coordinate systems is achieved, but automatic object recognition is difficult to implement and not reliable under complex operating conditions
Solution Approach 1:
The patent replaces optical/video-based calibration methods with sensor-based measurement systems. Sensors (such as accelerometers, gyroscopes, and magnetometers) are integrated into the holding devices to directly measure position and orientation data, eliminating the need for complex video sequence analysis and optical target tracking systems.
Solution Approach 2:
The patent introduces an intermediary initialization station that mediates between the sensors and the control system. This initialization station calibrates the sensors and establishes the relationship between sensor measurements and the desired coordinate systems, enabling reliable position determination without direct optical observation.
2Measurement precision
If optical target tracking is used for position determination, then the position of surgical instruments can be tracked, but reference bodies must be equipped on instruments and no objects may block the optical detection path
Solution Approach 1:
The patent replaces optical tracking systems with sensor-based measurement systems. Instead of using optical cameras to track reference bodies, the system uses integrated sensors (accelerometers, gyroscopes, magnetometers) to directly measure the position and orientation of surgical instruments, eliminating the need for optical detection paths and reference bodies.
Solution Approach 2:
The sensors are integrated directly into the holding devices, allowing the system to self-measure its own position and orientation without requiring external optical systems or reference bodies. The holding devices serve their own positioning needs through their built-in sensor capabilities.
3Measurement precision
If sensors are used for position detection, then the position can be detected, but the sensors must be taught-in and calibrated before use which is time-consuming
Solution Approach 1:
The patent implements a preliminary initialization process where the initialization station establishes the calibration data and coordinate system relationships before the actual surgical procedure. This preliminary action includes calibrating the sensors and storing the calibration information, so that during the operation, the system can directly use the pre-established calibration data without time-consuming real-time calibration.
Solution Approach 2:
The initialization station creates a copy of the calibration data and coordinate system information that can be stored and reused during the surgical procedure. This copied calibration information allows the system to maintain measurement precision without requiring repeated time-consuming calibration processes during the operation.
4Extent of automation
If robot systems with automated surgical instruments are used, then surgical instruments can be controlled automatically, but the systems are expensive and space-consuming
Solution Approach 1:
The patent implements partial automation by coupling only the essential movement control of surgical instruments through sensor-based detection. Instead of fully automated robot systems, the system provides automated control for the holding devices and surgical instruments that require precise positioning, while leaving other surgical tasks to manual operation. This partial automation approach reduces system complexity and cost while maintaining the necessary automation benefits.
Data Source
AI summary
The present application provides a sensor-based surgery set and a method for determining the position of a holding device for a surgical instrument. The surgery set includes at least one holding device, an initialization station, and a number of sensors. The initialization station has a number of sensor slots, wherein each sensor is assigned to one sensor slot and wherein the initialization station is coupled to a storage unit in which initialization information is assigned to each sensor slot. A number of sensor slots are arranged on the holding device, wherein each sensor slot is assigned to one sensor slot of the initialization station. In an initialization arrangement, a specific number of sensors is in engagement with the sensor slots of the initialization station and are coupled to the storage unit for initialization and data transmission. In use, however, the sensors are in engagement with the sensor slots.