Automatic Marker Registration with Fluoroscopy for Moving Surgical Objects
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Solution Overview
Problem
Existing navigation systems face challenges in accurately registering and maintaining registration accuracy during surgical procedures, particularly when the elements of the object being navigated move relative to each other, requiring manual interaction with markers or landmarks.
Innovation Solution
A registration method using marker carriers with fluoroscopically detectable markers and localization elements that provide sensor signals in an electromagnetic field, allowing for automatic registration by generating fluoroscopic images and establishing transformation functions segment-wise, without manual contact, and maintaining accuracy through repeated updates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If manual point-based registration is used with markers or landmarks, then registration can be established, but the process is time-consuming and requires manual interaction
Solution Approach 1:
The system performs automatic registration by detecting markers independently without requiring surgeon interaction. The navigation system automatically identifies marker positions, calculates transformation functions, and establishes coordinate system correlations, enabling the registration process to serve itself without manual intervention.
Solution Approach 2:
The patent replaces manual mechanical interaction with automated optical/electromagnetic detection. Instead of requiring physical contact with markers by a pointer instrument, the system uses electromagnetic field-based localization elements and image processing to detect marker positions and perform registration automatically.
2Reliability
If registration is performed with static markers, then initial registration accuracy is achieved, but accuracy deteriorates when object elements move relative to each other
Solution Approach 1:
The system transitions from static to dynamic registration by enabling repeated automatic registration updates throughout the surgical procedure. The navigation system can re-detect marker positions and recalculate transformation functions as needed, adapting to changes in the relative positions of object elements while maintaining registration accuracy.
Solution Approach 2:
The system implements feedback-based registration maintenance by continuously monitoring marker positions through electromagnetic field detection and fluoroscopic imaging. When displacement is detected, the system automatically updates the transformation function to compensate for the change, ensuring ongoing registration accuracy despite movement of object elements.
3Reliability
If frequent registration updates are performed to maintain accuracy with moving objects, then registration reliability is improved, but the complexity of the navigation system increases
Solution Approach 1:
The system performs preliminary detection of the spatial relationship between localization elements and markers during the registration phase. This pre-established geometric correlation is stored and reused for subsequent automatic updates, reducing the computational complexity required for each registration refresh while maintaining accuracy with moving objects.
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
Enables accurate and automatic registration of objects with moving elements, maintaining registration accuracy throughout the procedure by segment-wise registration and frequent updates, reducing the need for manual interaction and improving surgical navigation.
Implementation Method 1
the at least one marker localization element being configured to provide a sensor signal representing position and orientation of the marker localization element in an alternating electromagnetic field
Implementation Method 2
generating at least one fluoroscopic image of at least one marker carrier arranged on the outer surface together with at least one segment of the object
Data Source
AI summary
The invention relates to a method for automatically registering an object, the method comprising the steps ofproviding a preoperatively obtained model of the object,providing at least one marker carrier having a plurality of fluoroscopically detectable makers and at least one marker localization element fixed on it, wherein the at least one marker localization element being configured to provide a sensor signal representing position and orientation of the marker localization element in an electromagnetic field, and relative distance and orientation between at least one marker localization element and at least one marker of the plurality of markers are known,arranging the at least one marker carrier on an outer surface of the object,generating at least one fluoroscopic image of at least one marker carrier arranged on the outer surface together with at least one segment of the object in such a way that at least two markers of at least one marker carrier are visible in the generated fluoroscopic image together with at least one segment of the object,determining position and orientation at least of one marker localization element of the arranged marker carrier in an electromagnetic field, andrelating image points of the generated fluoroscopic image to model points of said preoperatively obtained model using the determined position and orientation of at least one marker localization element and the known relative distance and orientation between at least one maker localization element and at least one marker of the plurality of markers and/or a known spatial relation between a further marker of the plurality of markers and the at least one marker that has a known relative distance and orientation to at least one maker localization element.