Movable Surgical Tracker for In-Body Actuation Visualization
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Solution Overview
Problem
Existing surgical navigation systems face challenges in tracking the actuation of surgical devices when the distal end is inside the patient's body, as line of sight tracking is not feasible, making it difficult to accurately monitor and visualize the actuation of mechanisms within the patient.
Innovation Solution
A surgical device with a movable tracker that includes a shaft with a first portion inserted into the patient and a second portion outside, featuring an actuation member and an operation member that rotates the tracker relative to the longitudinal axis, allowing for optical tracking of the actuation through a predefined relationship between the tracker's rotation and the actuation movement, enabling real-time visualization of the actuation state relative to patient image data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If line of sight optical tracking is used for surgical devices, then tracking accuracy is improved, but tracking is impossible when the distal end enters the patient body
Solution Approach 1:
The patent introduces an intermediary tracker component that is coupled to the operation member rather than the distal end itself. This tracker remains outside the patient body and serves as a mediator to transmit positional information about the distal end's actuation state, enabling indirect tracking when direct line-of-sight tracking becomes impossible.
Solution Approach 2:
The patent replaces the direct optical line-of-sight tracking system with a mechanical coupling system. The tracker is mechanically coupled to the operation member through the shaft structure, allowing mechanical movement of the operation member to be transmitted to the tracker, which then can be optically tracked without requiring direct line of sight to the distal end.
2Reliability
If the distal end enters the patient body for treatment, then surgical effectiveness is improved, but optical tracking of the distal end becomes obstructed
Solution Approach 1:
The tracker acts as an intermediary element that remains externally accessible while being mechanically connected to the internally positioned operation member. This allows the surgical device to maintain its therapeutic function inside the patient body while the tracker remains outside for continuous optical detection and measurement.
Solution Approach 2:
The patent shifts the tracking dimension from direct spatial tracking of the distal end to tracking the operational state through the shaft structure. Instead of tracking the distal end's position in three-dimensional space, the system tracks the operational member's movement along the shaft's longitudinal axis, effectively using the shaft as a dimensional bridge.
3Measurement precision
If a tracker is rigidly coupled to the distal end for direct tracking, then tracking precision is improved, but the tracker cannot remain outside the patient during surgery
Solution Approach 1:
The shaft structure serves as a mechanical intermediary that transmits movement from the operation member to the tracker. This allows the tracker to be positioned externally for ease of access and operation while maintaining precise tracking through the mechanical coupling along the shaft's length.
Solution Approach 2:
The surgical device is segmented into distinct functional zones: the distal end for surgical treatment, the shaft for mechanical transmission, and the operation member with attached tracker for external control and monitoring. This segmentation allows each component to optimize its function without compromising the others.
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
Enables accurate and real-time tracking and visualization of the actuation of surgical devices within the patient's body, enhancing the precision and effectiveness of surgical procedures by correlating the tracker's rotational state with the actuation movement of the device.
Implementation Method 1
optical tracker configured for line of sight tracking by the navigation camera
Implementation Method 2
trackable by a surgical navigation system with tracking capabilities (e.g., a navigation camera)
Data Source
Figure 1A
Figure 1B
Figure 2A
AI summary
A surgical device comprises a shaft defining a longitudinal axis, wherein the shaft has a first shaft portion configured to be inserted into a patient and a second shaft portion configured to be located outside the patient when the first shaft portion is inserted in the patient. The surgical device further comprises an actuation member actuatable relative to the first shaft portion and an operation member operable relative to the second shaft portion, the operation member being configured to actuate the actuation member when being operated. Further, the surgical device comprises a tracker coupled with the operation member so that operation of the operation member causes the tracker to move relative to the shaft (e.g., to rotate around the longitudinal axis).