Surgical Tool Position Tracking with Detachable End Tracker
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing computer-assisted surgery systems face challenges in accurately determining the position of high-speed swinging surgical tools, such as electric saws, due to limitations in optical tracking technology, which affects the precision and reliability of surgical operations.
Innovation Solution
The implementation of an accurate position determining device and method for surgical tools, which includes an optical navigation device and a robotic arm system. This system uses a detachable end tracker with reflective balls that can be snap-fitted onto the surgical tool, allowing for precise tracking and position determination using an optical navigation device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an optical tracker is mounted on the surgical tool, then position determination accuracy is improved, but the field of view and operating space are reduced
Solution Approach 1:
The optical tracker is divided into two separate components: a first optical tracker mounted on the end effector and a second optical tracker mounted on the surgical tool. This segmentation allows each tracker to be optimized for its specific location without interfering with the other, maintaining both position determination accuracy and operational flexibility.
Solution Approach 2:
A calculation unit acts as an intermediary to compute the position of the surgical tool based on the positions of both optical trackers. This intermediary calculation process allows the system to determine the surgical tool's position accurately without requiring the tracker to be directly mounted on the tool, thus preserving the field of view and operating space.
2Measurement precision
If the optical tracker is mounted on the high-speed swinging surgical tool, then position determination is enabled, but the tracking accuracy is reduced due to high swinging speed
Solution Approach 1:
The tracking system is segmented into two independent optical trackers: one on the end effector and one on the surgical tool. This allows the system to track the end effector's position and the surgical tool's position separately, enabling accurate position determination even when the surgical tool is swinging at high speeds, as each tracker operates independently without interference.
Solution Approach 2:
The calculation unit continuously receives position data from both optical trackers and computes the surgical tool's position in real-time. This feedback mechanism allows the system to accurately track and compensate for the high-speed swinging motion, maintaining position determination accuracy despite the rapid movement of the surgical tool.
3Measurement precision
If the optical tracker is mounted on the surgical tool, then position determination is achieved, but the mechanical processing and assembly errors increase
Solution Approach 1:
The calculation unit serves as an intermediary that computes the surgical tool's position based on the positions of two optical trackers mounted on the end effector and surgical tool. This intermediary calculation approach eliminates the need for direct mechanical attachment of the tracker to the tool, thereby reducing mechanical processing and assembly errors while maintaining position determination accuracy.
4Measurement precision
If a single optical tracker is used, then device complexity is reduced, but position determination accuracy is insufficient
Solution Approach 1:
The optical tracking system is segmented into two separate optical trackers: a first optical tracker mounted on the end effector and a second optical tracker mounted on the surgical tool. This segmentation provides sufficient position determination accuracy by tracking both components independently, while the modular design keeps the added complexity manageable and organized.
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 solution significantly improves the accuracy of surgical tool position determination, especially for high-speed tools, by minimizing errors associated with mechanical processing, assembly, and optical tracking distance, thereby enhancing the reliability and precision of surgical operations.
Implementation Method 1
an end tracker (6) is disposed at the surgical tool (400), and the end tracker (6) is detachably connected to the surgical tool (400)... an optical navigation device and a robotic arm device... an optical navigator tracks the tracking marker on the tracker to determine a position of the tracker
Data Source
AI summary
The disclosure discloses an accurate position determining device, method and system for surgical tool. The method adopts two trackers for navigation and position determining: an end tracker is used for accurate position determining; the end tracker is removed after it is in place, and a main body tracker is used for real-time monitoring. Robotic arm movement will generate errors, and a navigation device is used to achieve multiple calibrations and successive recursion to approach a precise position, which thereby ensures a high accuracy to the utmost extent. During a navigation and position determining process, the main body tracker can provide a distance from a real-time position of a surgical tool to a spatial pose of a target cutting plane and feed it to an operator through a screen of a host, who makes fine adjustments by visual indication, and stops swinging if it exceeds a threshold value.