Surgical Navigation Markers Compiled into Virtual Reference
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Solution Overview
Problem
Existing robotic surgical navigation systems face challenges with accuracy due to the need for large navigation markers, which interfere with surgeon access and vision, and are prone to distortion and displacement during procedures.
Innovation Solution
The system employs multiple small physical surgical navigation markers that are mathematically compiled to create a single virtual marker, allowing for accurate tracking by a camera or sensor without interfering with the surgical field or surgeon's view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If large navigation markers (7-10 cm) are used to achieve 1-2 mm tracking accuracy with a remote camera, then measurement precision is improved, but the markers interfere with surgeon access and vision, and are prone to distortion and displacement
Solution Approach 1:
The patent divides a single large navigation marker into multiple smaller markers (e.g., four 2.5 cm markers arranged in a square pattern). Each small marker is tracked individually by the camera, and their combined positional data is processed to achieve the tracking accuracy equivalent to a large marker, while the smaller individual size reduces interference with surgical access and vision
Solution Approach 2:
The patent combines multiple small markers into a unified navigation reference system. The camera tracks all small markers simultaneously, and the system integrates their positional information to calculate the position and orientation of the anatomical structure, effectively merging them into a virtual large marker that provides accurate navigation without the physical drawbacks of actual large markers
2Measurement precision
If multiple large navigation markers are placed in the surgical space to track relative motion between vertebrae or tools, then measurement precision is improved, but the proximity of multiple large markers interferes with surgeon's vision and access
Solution Approach 1:
The patent replaces each large navigation marker with multiple smaller markers distributed across the same spatial envelope. This segmentation allows the markers to be placed on different vertebrae or tools while occupying less total surgical space, reducing visual obstruction and physical interference with surgical instruments
Solution Approach 2:
The patent arranges multiple small markers in specific spatial configurations (e.g., square patterns, linear arrangements) that utilize three-dimensional space more efficiently. This dimensional arrangement allows the markers to be positioned on adjacent vertebrae or attached to different tools while maintaining accurate relative positioning information without requiring large lateral spacing
3Measurement precision
If the camera is moved closer to the surgical site to increase tracking accuracy with small markers, then measurement precision is improved, but the camera itself becomes problematic and interferes with the surgical field
Solution Approach 1:
The patent combines multiple small markers into a unified tracking target that maintains accurate positional information at greater distances. By tracking multiple markers simultaneously and integrating their positional data, the system achieves high measurement precision without requiring the camera to be positioned close to the surgical site, thereby eliminating camera interference
Solution Approach 2:
The patent creates a virtual representation of the anatomical structure or tool by compiling positional data from multiple small markers. This virtual model serves as an accurate proxy that can be tracked from a distance, allowing the camera to remain positioned away from the surgical field while still achieving precise navigation through computational reconstruction of the tracked object's position and orientation
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
This approach enhances tracking accuracy while minimizing the size of implanted markers, allowing for more precise navigation in robotic surgical procedures without disrupting the surgical environment.
Implementation Method 1
tracking the virtual marker by optically or otherwise sensing the positions of the physical markers using the cameras or other sensors
Data Source
AI summary
Systems and methods for surgical robotic navigation include multiple small surgical markers which avoid interfere with line of sight and do not otherwise disturb the surgical staff, while providing a convenient and highly accurate methodology for tracking and compiling the markers. Multi-arm robotic surgery systems are described in various embodiments that hold surgical tools and navigation cameras and optimally make use of several small surgical markers placed on patient anatomy of interest, surgical tools and the robotic arms. The small surgical markers are mathematically compiled so that the navigation cameras see a larger “compiled” surgical marker, thus providing greater accuracy.