Trocar Pose Tracking for Precise Laser Alignment in MIS
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Solution Overview
Problem
In robot-assisted minimally invasive surgeries, aligning the laser beam with the surgical access port, or trocar, is challenging due to the use of smaller trocar diameters, which can reduce the laser's effectiveness and increase the risk of intersection with the trocar, especially when using smaller trocars.
Innovation Solution
A surgical access port with fiducial markers and a positioning system that determines the three-dimensional pose of the trocar using a tracking device and central processing unit, allowing the laser beam to be aligned and oriented to avoid intersecting the trocar walls by calculating actuation directions through the trocar's inner space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If smaller diameter trocars are used to minimize invasiveness, then patient trauma is reduced, but laser alignment precision deteriorates and beam intersection with trocar walls increases
Solution Approach 1:
The patent replaces mechanical alignment methods with an optical tracking system. Fiducial markers attached to the trocar are detected by an optical tracker, providing real-time three-dimensional pose information. This allows the laser beam path to be calculated and adjusted based on precise optical measurement rather than mechanical alignment, enabling accurate laser delivery through smaller trocars without increasing patient trauma.
Solution Approach 2:
The patent introduces fiducial markers as intermediary elements between the trocar and the laser system. These markers serve as reference points that enable the tracking system to determine the trocar's position and orientation, facilitating precise laser alignment without direct mechanical interaction between the laser system and the trocar.
2Productivity
If real-time tracking is implemented to maintain laser alignment, then cutting effectiveness is improved, but system complexity increases
Solution Approach 1:
The patent implements a feedback mechanism where the optical tracking system continuously monitors the trocar's three-dimensional pose in real-time. This positional information is fed back to the laser control system, which automatically adjusts the laser beam path to maintain accurate alignment with the trocar's inner space, ensuring consistent cutting effectiveness throughout the procedure.
Solution Approach 2:
The patent creates a virtual model or copy of the trocar's position and orientation through optical tracking of fiducial markers. This digital representation is used to calculate and control the laser beam path, replacing the need for complex physical alignment mechanisms while maintaining precise control over the laser's trajectory through the trocar.
Data Source
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AI summary
The present invention provides a surgical access port, a positioning system for determining the three-dimensional pose of the surgical access port, and a laser cutting surgical system capable of aligning the laser beam based on the three-dimensional pose of the surgical access port. In particular, the invention is suited for robot-assisted surgical interventions.