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HearRestore Gateway:

Towards the industrialization of miniaturized


surgical tracking systems

Dr. Amina Chebira


Vision Embedded Systems Group
CSEM SA, Neuchtel
26.01.2017

CONFIDENTIAL
Outline

Project objectives
Demonstrator and system overview
Advantages of the HearRestore Gateway tracker
Axios
HearRestore

6D tracking pipeline
CSEM technologies
Roadmap with industrial partner
Atracsys and Gateway roadmap
The Gateway tracker in the product roadmap of Atracsys

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Objectives

Goal: Use a 6D tracking system to provide highly precise and accurate tracking
for microsurgeries such as ENT, spine or neuro-surgeries,
Need to know the position of the robotic tool with respect to the patient
at all times, under varying conditions

Tracker

Target 1
Target 2

HearRestore HearRestore Gateway

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System overview and principle

The tracking system consists of a tracker, a 5-LEDs target,


a 6D tracking algorithm and a navigation application
The target
Optimal positioning of LEDs, one non-coplanar LED

The tracker consists of


Two cameras, synchronization (infrared)
and communication (Bluetooth) modules,
An embedded 2D spaceCoder firmware to compute Target
the 2D position of each LED on the target
It synchronizes the cameras with the LEDs, computes 2D positions,
sends them to a central unit Tracker

The central unit uses our 6D tracking and calibration method


to compute the position of the target
The navigation application
Shows in real time the 6D position of the instrument

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Advantages of the HearRestore Gateway system

The smallest surgical tracking device


Miniature, more compact
70 times smaller than Axios in mm-volume
Offers the possibility of attaching the tracker directly
on the instrument hereby removing the need
of a second target
Wireless target & tracker
Tracker synchronizes with target via IR
Tracker uses Bluetooth communication
to transfer LED positions to a central unit
Both the tracker & the target are battery operated
Built mostly with off-the-shelf components
Cost effective
82
168

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Advantages over the RTD HearRestore system

Uses two cameras stereo system


Higher accuracy (than in RTD project) thanks to better depth estimation

Wireless
The tracker communicates with the computer via Bluetooth

Both the target and tracker are battery operated


Novel mask-on-filter
Integrated near-infrared filter into optical grating
Better and simplified optical front-end simpler optical path
and modeling, fewer errors
More compact

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Full pipeline, 6D tracking and calibration

2D
Calibrati 2D + HW Calibration LUT,
spaceCoder
on setup Calibration distorsion, match
algorithm
model

Measureme Calibrated 6D Navigation


nt 2D positions algorithm system
setup
Embedded 2D spaceCoder algorithm
LUT, distorsion, match 6D
2D calibration model Calibration
Estimate focal length, refraction index, optical center
Geometric correction using learning methods to match a pinhole model as
much as possible
6D pose measurement and calibration
Projective geometry to obtain the 6D point (PnP algorithm)
Learn rigid transformation to map from tracker coordinate system to the
instruments
Send via TCP the 6D position to the navigation system

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CSEMs technologies: spaceCoderTM and VIP

The spaceCoderTM to compute 2D LED positions


A light source projects the shadow of
a particular pattern onto the sensor Light source

Each pixel carries information about


Mask with absolute code and regular grating
the 3D position of the light source
A Fourier-like analysis of the shadow
assesses the 3D position Array of pixels
Vision-in-package (VIP) system
Fully integrated miniaturized vision system with sensor, OS, processor,
memory and interfaces
The tracker contains two VIPs with adapted firmware

CSEM Patents
6D positioning system using a shadow sensor, US14597434, filed15-Jan-
2015
Positioning system using a constellation of light sources, EP15151233, filed
15-Jan-2015
Measurement system of a light source in space, EP2593755B1,
US9103661B2, 19-Jan-2012

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Whats next

Algorithms
Acquire measurement database with ground truth (3D and 6D)
Stereo 6D algorithm
Calibration methods for 2D and 6D computation

Performance evaluation
Accuracy and precision benchmark lab experiments
Battery life
Frame rate of the full pipeline when using Bluetooth

System integration
6D tracking algorithm
Navigation application

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Atracsys

Spin-off from EPFL (micro-engineering department), based in


Lausanne area, incorporated in 2004, self-financed
Founders
Dr. Gatan Marti (EPFL)
Maurice Hlg (ETH / EPFL)
Beat Brhwiler (EPFL)

Two divisions:
Interactive Solutions
Optical Measurements Solutions for Surgery

30 employees (50% interactive / 50% measurement)

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Tracker roadmap

Period TRL Description


1st Semester 2017 4-6 Tracker platform of the HearRestore Gateway
2017 Extensive metrological tests, design review, specifications for
next industrialization steps.
2017 Prospection on alternate market segments (ENT, Neuro, Spine)
and other geographical segments (BRIC countries).
2nd Semester 2017 6-8 CTI Project:
to CSEM will further industrialize the tracker platform, develop
End 2018 further calibration and tracking algorithms, add 6D
(position and orientation) computation within the tracker,
make the device compliant with Atracsys accessories (e.g.
autoclavable active wireless markers), conform to Atracsys
protocols and APIs.
Atracsys will work on medical certification and
industrialization of the product and integration of the
technology in early-stage navigation solutions.

2019 8-9 Medical-grade product certified and industrialized

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Atracsys products roadmap

Public Medical
Price
Product Presentat -grade
Range Markets
Name ion Product
CHF
Date Date
easyTrac
2004 - Medical research (ENT)
k

accuTrac Orthopaedic surgery. License to


2007 2009 17-20k
k Exactech (implant company)

infiniTrac
2008 - 10k Medical research
k
fusionTra Hi-end computer-assisted surgery
ck 2013 2016 15k CAS
500 Medical robotics
fusionTra
ck 2015 2017 11.5k Medium range CAS
250

spryTrack 2016 2018 8.5k Entry-level CAS, start-ups

Hear
Dedicated gestures (ENT, Neuro)
Restore 2018 2019 5k
BRIC market
Tracker

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Thank you for your attention!

Contact info:
Dr. Amina Chebira Dr. Gaetan Marti
Vision Embedded Systems Group CEO
amina.chebira@csem.ch gaetan.marti@atracsys.
CSEM SA, com
Rue Jaquet-Droz, 1 Atracsys SA
2002 Neuchatel Route du Verney, 20
1070 Puidoux

CONFIDENTIAL