Surgical Instrument Optical Tracking Calibration
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Solution Overview
Problem
Existing robotized computer-assisted surgery systems face challenges in achieving precise and accurate tracking of surgical instruments, despite calibration efforts, due to limitations in optical tracking and instrument calibration methods.
Innovation Solution
A system that uses a processing unit and computer-readable memory to track instruments optically during a calibration sequence, obtain robot arm maneuvering data, compare optical tracking values with maneuvering data, and calibrate the instrument for improved accuracy, utilizing a multifaceted tracker with multiple sets of optical elements for continuous tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical tracking is used to track surgical instruments, then navigation data can be obtained, but precision and accuracy are insufficient
Solution Approach 1:
The system performs calibration by comparing optical tracking values with robot arm maneuvering data, using the comparison results to correct geometrical relations. This feedback mechanism continuously improves tracking accuracy by identifying and correcting deviations between measured and expected positions.
Solution Approach 2:
The system performs calibration sequences before surgical procedures to pre-establish accurate geometrical relations between trackers and instruments. By preparing and correcting calibration data in advance, the system ensures high tracking precision during actual surgical operations.
2Measurement precision
If calibration is performed to improve precision, then tracking accuracy improves, but calibration complexity increases
Solution Approach 1:
The system performs self-calibration by automatically comparing optical tracking values with robot arm maneuvering data and correcting geometrical relations without requiring external intervention. This automated calibration process reduces complexity compared to manual calibration methods.
Solution Approach 2:
The calibration system serves multiple functions: it calibrates instrument trackers, validates robot arm positioning, and establishes geometrical relations. This multi-functional approach consolidates calibration activities into a single integrated process, reducing overall complexity.
3Device complexity
If a single set of optical elements is used for tracking, then device complexity is reduced, but tracking continuity is disrupted by line-of-sight blockages
Solution Approach 1:
The tracker is divided into multiple sets of optical elements (e.g., three sets arranged at different orientations). Each set can independently provide tracking data, allowing the system to switch between sets when line-of-sight is blocked, ensuring continuous tracking without increasing overall device complexity.
Solution Approach 2:
The system changes the active optical element set based on spatial orientation and line-of-sight conditions. By dynamically selecting which optical elements to use for tracking, the system maintains continuous tracking reliability while keeping each individual optical set relatively simple.
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
The system enhances the precision and accuracy of instrument tracking in robotized computer-assisted surgery by correcting geometrical relations between trackers and instruments, ensuring continuous and robust navigation data, and reducing inaccuracies caused by line-of-sight disruptions.
Implementation Method 1
The trackers are viewed by a tracking device, such as a tracking camera (e.g., Navitracker®, a depth camera, and by triangulation the position and orientation of the tracker device is calculable to output navigation data
Data Source
AI summary
A system for tracking calibrating an instrument in a robotized computer-assisted surgery, may have a processing unit; and a non-transitory computer-readable memory communicatively coupled to the processing unit and comprising computer-readable program instructions executable by the processing unit for: tracking the instrument optically as maneuvered by a robot arm in a calibration sequence; comparing optical tracking values from the calibration sequence with robot arm maneuvering data; and calibrating the instrument from the comparing for subsequent use of the instrument to perform actions on the bone.