Surgical Instrument Tracking Constellations for Overhead Camera Visibility
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Solution Overview
Problem
Existing mediated reality systems face challenges in tracking surgical instruments when markers are out of view or move relative to the object after calibration, leading to diminished accuracy.
Innovation Solution
A tracking constellation with a support and angled markers mounted to standoffs of varying heights, orthogonal to the instrument, improves visibility and reduces tracking errors by maintaining alignment with overhead cameras.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If markers are mounted flat on the instrument surface, then the structure is simple, but the markers become invisible to overhead cameras when the instrument is held vertically
Solution Approach 1:
The patent transitions markers from a 2D flat mounting surface to a 3D angular configuration using standoffs of varying heights. This dimensional change allows markers to be positioned at different elevations and angles, making them visible to overhead cameras even when the instrument is held vertically, thereby resolving the visibility issue without excessive structural complexity.
Solution Approach 2:
The patent applies different standoff heights to different markers within the constellation, creating local variations in marker positioning. This local quality approach ensures that at least some markers remain visible from the overhead camera perspective regardless of instrument orientation, while maintaining overall structural simplicity through a standardized mounting mechanism.
2Measurement precision
If markers are positioned away from the instrument body for better visibility, then tracking accuracy improves, but the markers become more susceptible to movement and detachment
Solution Approach 1:
By positioning markers in a 3D angular configuration rather than flat against the instrument body, the patent achieves optimal visibility for overhead cameras while maintaining reasonable proximity to the instrument. The angular offset provides the necessary separation for accurate tracking without excessive distance that would compromise stability.
Solution Approach 2:
The patent employs a composite mounting structure combining the instrument body, support structure, and standoff elements into an integrated assembly. This composite approach ensures that markers are securely attached through multiple connection points and structural elements, enhancing reliability while maintaining positioning accuracy for tracking.
3Measurement precision
If a flat support structure is used for mounting markers, then manufacturing is simple, but tracking accuracy diminishes when the instrument orientation changes
Solution Approach 1:
The patent transitions from a 2D flat support to a 3D angular support structure with standoffs at different heights. This dimensional enhancement maintains manufacturing simplicity by using standard machining operations while achieving the angular configuration necessary for consistent tracking accuracy across various instrument orientations.
Solution Approach 2:
The patent modifies the geometric parameters of the support structure by introducing angular positioning through varying standoff heights. This parameter change enables the markers to maintain optimal spatial relationships with the overhead camera regardless of instrument orientation, improving tracking accuracy without significantly complicating the manufacturing process.
Data Source
AI summary
Tracking constellations for use with surgical instruments, and associated systems and methods, are disclosed herein. In some embodiments, a tracking constellation includes (i) a support, (ii) a plurality of first standoffs extending from the support to a first height, and (iii) a plurality of second standoffs extending from the support to a second height different than the first height. The tracking constellation can further include a plurality of markers mounted to corresponding ones of the first standoffs or the second standoffs. The markers can lay in a common plane. The support can extend at a generally orthogonal angle to an instrument when the tracking constellation is coupled to the instrument such that the common plane is angled relative to the instrument.