SYMBIOM (Synergic inertial microsystems for bio-medical applications)

目前的研究计划与导航手术的惯性传感器集群的发展有关，并辅以其他智能手术工具。医疗导航系统主要用于监测手术器械相对于患者身体的位置。目前的光学导航系统的适用性有限（例如，在神经外科中），受到高成本和手术器械与摄像机之间需要直接视线的阻碍。附着在手术工具或骨骼上的微惯性测量单元（IMU）可以跟踪它们的位置，并提高整体性能。增加复杂性的手术应用将成为可能，例如在面部骨折和颅面截骨的情况下进行骨重新定位。为了提高分辨率，设想了几种创新技术：机械运动的参数放大，在稳定边界的受控状态下操作，以及使用现代传感体系结构（通过光学干涉测量或位移到频率转换技术进行位移传感）。预期的性能改进将扩大计算机辅助手术（CAS）系统的应用领域，并补充加拿大现有的研究发展，重点是其他CAS子系统。特别是，增加的分辨率将允许更好地与人体的3D地图同步，用于患者体内手术器械尖端的自动或辅助引导。未来的研究将扩展这些imu在医疗机器人和智能手术工具上的应用。增加的功能将针对主动位置校正，或消除不需要的运动成分（例如手震颤消除）。这种方法将需要一个更自适应的传感方案，具有实时可重构的传递函数。

The present research program is related to the development of an inertial sensor cluster for navigated surgery, complemented by other intelligent surgery tools. Medical navigation systems are mainly used for monitoring the position of surgical instruments relative to the body of the patient. Present optical navigation systems have a limited applicability (e.g. in neurosurgery), hindered by the high cost and the need of a direct line of sight between the surgical instrument and a video-camera. A micro-inertial measurement unit (IMU) attached to surgical tools or bones can track their position, and improve the global performance. Increased complexity surgical applications will become possible, e.g. bone repositioning in case of facial fractures and osteotomies of craniofacial segments. Several innovative techniques are envisaged, in order to increase the resolution: parametric amplification of mechanical motion, operation in a controlled regime on the stability border, and the use of modern sensing architectures (displacement sensing by optical interferometry or displacement to frequency conversion techniques). The expected performance improvements will widen the application field of computer-assisted surgery (CAS) systems, and complement existing research developments in Canada, focused on other CAS subsystems. In particular, the increased resolution will allow better synchronization with 3D maps of the human body, for automatic or assisted guidance of the tip of surgery instrument inside the patient. Future research will expand the application of these IMUs to medical robotics and intelligent surgery tools. An increased functionality will target active position correction, or cancellation of undesired motion components (e.g. hand-tremor cancellation). This approach will require a more adaptive sensing scheme, with real-time reconfigurable transfer functions.