3D Imaging Arm Positioning for Optimal Vertebral X-Rays
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Solution Overview
Problem
The current method of acquiring 2D x-ray images for spinal implant placement in robot-assisted surgery requires multiple fluoro shots, exposing patients and medical staff to excessive radiation and prolonging surgical procedures due to manual adjustment of the C-arm for optimal alignment.
Innovation Solution
A system and method for determining the optimal 3-dimensional position and orientation of an imaging device by taking test images, identifying vertebral bodies, segmenting them, and aligning a 3-dimensional model to automatically determine the imaging arm's position and orientation for optimal AP and lateral x-ray images.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual adjustment of C-arm is used to acquire optimal x-ray images, then imaging alignment can be achieved, but the number of fluoro shots increases and surgical time is prolonged
Solution Approach 1:
The patent replaces the manual mechanical adjustment system with an automated computer-controlled system. The computer determines optimal C-arm positions and orientations based on 3D spinal models and automatically controls the robotic arm to achieve precise imaging alignment without manual intervention, thereby reducing the number of fluoro shots required.
Solution Approach 2:
The system changes the control parameters from manual trial-and-adjustment to computer-calculated optimal parameters. By using 3D spinal anatomy models and projection geometry calculations, the system determines precise C-arm positioning parameters (angles, distances, orientations) that guarantee optimal imaging alignment in fewer attempts.
2Measurement precision
If multiple fluoro shots are taken to achieve proper C-arm alignment, then optimal images can be obtained, but radiation exposure to patient and staff increases
Solution Approach 1:
The system performs preliminary calculations of optimal C-arm positioning based on pre-acquired 3D spinal models before actual imaging. By determining the exact positioning parameters in advance through computer simulation and geometry calculations, the system ensures that the first or second fluoro shot captures the optimal image, minimizing the need for additional radiation-exposing attempts.
Solution Approach 2:
The automated robotic positioning system replaces manual mechanical adjustment, enabling precise reproduction of calculated optimal positions. This automation ensures consistent achievement of target alignment parameters, dramatically reducing the number of fluoro shots needed and thereby minimizing radiation exposure to both patient and medical staff.
3Reliability
If iterative manual positioning is used for each vertebral level, then adequate images can be acquired, but surgical procedure complexity increases
Solution Approach 1:
The system creates a universal 3D spinal model that can be used across multiple vertebral levels. Once the 3D model is established from initial scans, the same computational algorithm automatically determines optimal positioning parameters for all subsequent imaging at different vertebral levels, standardizing the process and reducing procedural complexity while maintaining reliability.
Solution Approach 2:
The computer-controlled robotic system replaces complex manual iterative positioning procedures. The system automatically executes calculated positioning commands with high precision, eliminating the need for surgeons and radiology technicians to manually adjust and reposition the C-arm multiple times, thereby simplifying the overall procedure while ensuring reliable image acquisition.
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
Reduces the number of fluoro shots needed, minimizing radiation exposure and surgical time by eliminating the need for manual adjustments, thereby enhancing surgical efficiency and safety.
Implementation Method 1
test images of the vertebral body are taken by the user and are received by the imaging device. The test images include an x-ray image of the vertebral body and a second x-ray image at a different angle
Data Source
AI summary
A method of determining the imaging arm's optimal 3-dimensional position and orientation for taking images of a body implant or body structure such as vertebral body is provided. Test images of vertebral body of interest are initially taken by the user and are received by the imaging device. The test images typically include AP and lateral x-ray images of the vertebral body. From the test images, the vertebral body is segmented. A 3-dimensional model of the vertebral body is then aligned against the corresponding vertebral body in the test images. Based on the alignment, a 3-dimensional position and orientation of the imaging arm for taking optimal A-P and lateral x-ray images are determined based on the aligned 3-dimensional model. The present method eliminates the need to repeatedly take fluoro shots manually to find the optimum images to thereby reduce procedural time, x-ray exposure and procedure costs.