Surgical Reference Array Tracking Using Multi-Frame Template Generation

Solution Overview

Problem

Existing camera tracking systems for computer-assisted navigation during surgery are prone to intermittent pauses and reduced tracking accuracy due to objects being moved outside the tracking area or obstructed from camera view, necessitating improved tracking accuracy and reliability.

Innovation Solution

A camera tracking system that generates an array template by determining and averaging coordinates of physical objects in video frames, using a processor to track the pose of a reference array over time, and adjusts tracking based on defined accuracy rules, ensuring continuous and accurate navigation even when objects are obstructed.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If existing navigation systems track objects using camera systems, then real-time pose feedback is provided to the surgeon, but tracking accuracy deteriorates when objects are moved outside tracking area or obstructed from camera view

Engineering Contradiction:

Improvetracking continuityVSAvoidtracking accuracy

Core Design Contradiction:

ReliabilityVSMeasurement precision

Solution Approach 1:

The system performs preliminary actions by generating an array template from multiple video frames before tracking begins. This template serves as a reference that allows the system to continue tracking even when objects temporarily leave the tracking area or become obstructed, as the template contains pre-established coordinate information that can be used during such interruptions.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The array template acts as an intermediary between the camera tracking system and the reference array. When direct visual tracking is blocked or objects move outside the tracking area, the template provides intermediate coordinate data that maintains the tracking relationship, allowing the system to bridge gaps in direct observation and continue providing pose feedback.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Reliability

If camera tracking systems use fixed tracking area boundaries, then the system structure remains simple, but tracking reliability decreases when objects move outside the tracking area

Engineering Contradiction:

Improvetracking continuityVSAvoidtracking system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system performs preliminary actions by generating an array template from multiple video frames before tracking begins. This template serves as a reference that allows the system to continue tracking even when objects temporarily leave the tracking area or become obstructed, as the template contains pre-established coordinate information that can be used during such interruptions.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system transitions from purely spatial tracking within a fixed camera field of view to temporal tracking by incorporating the time dimension. The array template captures spatial coordinates across multiple time points, allowing the system to reconstruct object positions even when they temporarily leave the current viewing area, effectively adding a temporal buffer to the spatial tracking.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

3Measurement precision

If the system uses multiple video frames to generate array template, then tracking accuracy improves through coordinate averaging, but processing time increases

Engineering Contradiction:

Improvetracking accuracyVSAvoidtemplate generation time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The system performs preliminary actions by generating an array template from multiple video frames before tracking begins. This template serves as a reference that allows the system to continue tracking even when objects temporarily leave the tracking area or become obstructed, as the template contains pre-established coordinate information that can be used during such interruptions.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system uses a defined number of video frames (excessive action) to generate the array template, which provides sufficient accuracy for tracking purposes. By processing a specific number of frames rather than continuously processing all available data in real-time, the system achieves high measurement precision during template generation while accepting a one-time processing delay that does not affect ongoing tracking performance.

Inventive Principle:

Principle #16Partial or excessive action

Data Source

PatentUS12521188B2Surgical object tracking template generation for computer assisted navigation during surgical procedure

Publication Date: 2026.01.13 GLOBUS MEDICAL INC

AI summary

A camera tracking system for computer assisted navigation during surgery. The camera tracking system includes a processor operative to receive streams of video frames from tracking cameras which image a plurality of physical objects arranged as a reference array. For each of the physical objects imaged in a sequence of the video frames, that processor determines a set of coordinates for the physical object over the sequence of the video frames. For each of the physical objects, the processor generates an arithmetic combination of the set of coordinates for the physical object. The processor generates an array template identifying coordinates of the physical objects based on the arithmetic combinations of the sets of coordinates for the physical objects, and tracks pose of the physical objects of the reference array over time based on comparison of the array template to the reference array imaged in the streams of video frames.