Surgical Marker Tracking with Optical and Inertial Sensor Fusion
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Solution Overview
Problem
Existing computer-assisted surgical systems face challenges in improving safety and ease-of-use, particularly in integrating virtual three-dimensional patient anatomy datasets with actual surgical instruments and robotic manipulators during procedures.
Innovation Solution
The implementation of a marker device for image-guided surgery systems, including an electronics unit with a light source and optical guide apparatus, and a motion tracking system using optical sensors and inertial measurement units to accurately track the position and orientation of robotic arms and surgical tools in three-dimensional space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional marker devices are used for tracking surgical instruments, then the system structure remains simple, but the tracking precision and reliability are insufficient
Solution Approach 1:
The patent combines multiple tracking technologies (optical markers, inertial sensors, electromagnetic tracking) into a single integrated marker device. This merging of different tracking methods within one device achieves high-precision three-dimensional position and orientation tracking while maintaining practical system complexity through unified design.
Solution Approach 2:
The marker device is designed to perform multiple functions simultaneously: optical tracking via reflective markers, inertial measurement via accelerometers and gyroscopes, and electromagnetic field sensing. This multi-functionality allows a single device to provide comprehensive tracking data across different measurement domains, improving overall tracking precision.
2Reliability
If optical sensors are used to detect marker positions, then real-time feedback is achieved, but the system is sensitive to occlusion and line-of-sight requirements
Solution Approach 1:
The patent introduces inertial measurement units as intermediary sensors that can detect position and orientation changes without requiring direct line-of-sight to the marker. These inertial sensors serve as mediators that complement optical tracking, providing reliable data even when optical sensors are occluded, thus improving tracking reliability in challenging surgical environments.
Solution Approach 2:
The system transitions from relying solely on optical parameters (reflective marker detection) to incorporating inertial parameters (acceleration, angular velocity measurements). This parameter diversification allows the system to maintain tracking reliability under varying operational conditions, including occlusion and limited line-of-sight scenarios.
3Measurement precision
If multiple sensors and correction mechanisms are added to improve tracking accuracy, then measurement precision improves, but device complexity increases
Solution Approach 1:
The patent merges optical markers, inertial measurement units, and correction algorithms into a single integrated marker device. This consolidation achieves high-position tracking accuracy through multiple sensing modalities while managing device complexity through unified design and centralized data processing.
Solution Approach 2:
The system incorporates feedback mechanisms where inertial sensor data is used to correct and refine optical tracking measurements in real-time. This feedback loop between different sensing modalities enhances position tracking accuracy by compensating for the limitations of each individual sensor type, achieving superior precision without requiring overly complex individual components.
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
Enhances the safety and usability of computer-assisted surgical systems by providing precise tracking and control of robotic arms and surgical instruments, enabling accurate surgical procedures with reduced risk of tissue damage.
Implementation Method 1
an optical guide apparatus located within the at least one channel to couple light from the at least one light source of the electronics unit to the at least one opening in the rigid frame
Implementation Method 2
a marker comprising an optical diffuser that attaches to an outer surface of the robotic arm to optically couple the light source to the diffuser
Implementation Method 3
a beam splitter optically coupled to the optical sensor and configured to redirect optical signals from the reference marker device to the optical sensor
Data Source
AI summary
Methods and systems for performing computer-assisted surgery, including robot-assisted image-guided surgery. Embodiments include marker devices for an image guided surgery system, marker systems and arrays for tracking a robotic arm using a motion tracking system, and image guided surgery methods and systems using optical sensors.