Surgical Navigation System with Non-Invasive Reference Frame
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Solution Overview
Problem
Current image-guided navigation systems in surgery face challenges due to the need for dynamic reference frames that are uncomfortable for patients, require invasive attachment, and introduce errors in tracking instruments, especially when sensors are positioned away from the distal tip of instruments, and pose electrical safety concerns.
Innovation Solution
A surgical navigation system with non-invasive dynamic reference frames and sensor-tipped instruments that allow precise tracking of instruments with electromagnetic sensing coils, isolated from electrical sources, and anti-rotation mechanisms to ensure accurate positioning and orientation, including methods for determining the geometry and averaging positions of multiple coils for improved accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If dynamic reference frames are attached to the patient during image acquisition and procedure, then accurate correlation between image space and patient space is achieved, but patient comfort deteriorates due to invasive attachment requirements
Solution Approach 1:
The patent replaces the mechanical invasive attachment system (bone screws) with a non-invasive optical tracking system. The dynamic reference frame is captured in pre-operative images and tracked optically throughout the procedure, eliminating the need for physical attachment to the patient's skull or bone during the procedure while maintaining accurate correlation between image space and patient space.
2Reliability
If tracking sensors are positioned in the handle of the instrument, then electrical isolation from patient is achieved, but measurement precision deteriorates due to distance from distal tip
Solution Approach 1:
The patent segments the tracking system into two separate components: (1) tracking sensors positioned in the instrument handle for electrical isolation and power supply, and (2) a separate distal tip indicator that provides precise position tracking at the distal tip. This segmentation allows each component to fulfill its specific function optimally without compromise.
Solution Approach 2:
The patent introduces a distal tip indicator as an intermediary element that bridges the gap between the handle-mounted sensors and the actual distal tip position. The indicator is positioned at or near the distal tip and its position is tracked relative to the handle sensors, providing accurate distal tip localization while maintaining electrical isolation.
3Measurement precision
If tracking sensors are positioned near the distal tip of the instrument, then position tracking accuracy is improved, but electrical safety risks increase due to proximity to patient anatomy
Solution Approach 1:
The distal tip indicator serves as an intermediary that allows accurate tracking of the distal tip position without requiring electrical sensors to be in direct contact with or near the patient's anatomy. The indicator can be non-conductive or passively tracked, eliminating electrical safety risks while maintaining measurement precision.
4Ease of operation
If complex calculations are used to determine distal end position from sensor position, then instrument tracking is achieved, but measurement precision deteriorates due to error accumulation
Solution Approach 1:
The distal tip indicator acts as a direct intermediary marker that eliminates the need for complex calculations to determine distal end position. By providing a visible or trackable marker at the actual distal tip location, the system directly measures the position of interest without requiring mathematical transformations that could introduce error accumulation.
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 enables precise, comfortable, and safe navigation of surgical instruments with reduced errors and electrical isolation, enhancing the accuracy and minimally invasive nature of surgical procedures.
Implementation Method 1
The tracked instruments will generally include portions that may be tracked and super-imposed over acquired or modeled images of the patient... the instrument may include detectable portions, such as electromagnetic coils
Data Source
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AI summary
Disclosed is a surgical navigation system for tracking an instrument relative to a patient. The system can track a portion of the patient, an instrument, and/or both relative to image data, a coordinate system, an atlas, a morphed atlas, or combinations thereof. The system can include a tracking device on the instrument to provide six degree of freedom information regarding the location of the instrument.