Tracker Characterization Jig for Optical Sensor Verification

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Solution Overview

Problem

Localization systems relying on optical sensors for object tracking face inaccuracies due to wear and tear, and repeated sterilization can cause physical geometry deformities in trackers, leading to incorrect pose calculations.

Innovation Solution

A characterization system using a characterization jig with multiple mounting locations and a computing unit to capture images of trackers from various angles, calculating a Tracker Definition and Assessment Parameter to verify the accuracy of trackers against a Static Tracker Definition, ensuring precise spatial localization.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Duration of action of stationary object

If trackers are used repeatedly in sterilization processes, then they can be reused multiple times, but their physical geometry deforms leading to localization inaccuracies

Engineering Contradiction:

Improvetracker reuse durationVSAvoidtracker geometry precision

Core Design Contradiction:

Duration of action of stationary objectVSManufacturing precision

Solution Approach 1:

The system performs preliminary characterization of the tracker's actual geometry before use by capturing images from multiple known positions and orientations. This pre-characterization creates an updated transformation model that accounts for any geometric deviations, ensuring accurate localization from the first use after sterilization without requiring the tracker to be perfect

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously verifies tracker accuracy by comparing observed marker positions against expected positions based on the characterization data. When deviations are detected, the system can trigger re-characterization, creating a feedback loop that maintains localization accuracy throughout the tracker's operational life despite repeated sterilization cycles

Inventive Principle:

Principle #23Feedback

2Ease of operation

If visual inspection is performed to detect tracker deformities, then inspection is simple and quick, but it cannot detect internal or subtle geometric deformities

Engineering Contradiction:

Improveinspection easeVSAvoiddeformity detection precision

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The system introduces an intermediary characterization process that uses the optical tracking system itself as a measurement tool. By capturing images of the tracker from multiple known positions and orientations, the system indirectly measures geometric properties with high precision, detecting subtle deformities that visual inspection cannot perceive

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system replaces manual visual inspection with an automated optical measurement system. The characterization process uses image capture and computational analysis to objectively assess tracker geometry, substituting human visual judgment with precise machine-based measurement that can detect subtle geometric deviations

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Productivity

If a Static Tracker Definition is assumed without verification, then localization calculations are simple and fast, but inaccuracies result from wear and tear

Engineering Contradiction:

Improvelocalization calculation speedVSAvoidpose calculation reliability

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The system performs preliminary characterization to establish the actual tracker geometry before localization operations. This pre-computed transformation model is stored and used during localization, allowing fast calculations while accounting for geometric deviations. The one-time characterization effort enables subsequent rapid and accurate pose calculations

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system changes the transformation parameters from theoretical design values to empirically measured values through characterization. By updating the tracker definition with actual measured geometry, the system maintains reliable localization accuracy while keeping calculation speeds high, as the updated parameters are pre-computed and ready for use

Inventive Principle:

Principle #35Parameter changes

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 provides accurate and quick verification of tracker accuracy, reducing errors in pose calculations and maintaining precision in surgical localization procedures by accounting for physical geometry deviations.

Implementation Method 1

Localization systems that use optical sensors to detect and measure a location of an object in space

Methodology Applied

Scientific EffectOptical detection: Light

Data Source

PatentUS11321849B2Systems and methods for tracker characterization and verification

Publication Date: 2022.05.03 INTELLIJOINT SURGICAL

AI summary

The present application relates to systems and methods used to characterize or verify the accuracy of a tracker comprising optically detectable features. The tracker may be used in spatial localization using an optical sensor. Characterization results in the calculation of a Tracker Definition that includes geometrical characteristics of the tracker. Verification results in an assessment of accuracy of a tracker against an existing Tracker Definition.