Dual-Spectrum Imaging for Robust Surgical Tool Tracking
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Solution Overview
Problem
Current robotic surgery systems lack robust image-guidance and autonomy, relying heavily on surgeon commands with limited intelligence or autonomy, and existing tracking technologies are not robust enough to handle the dynamic and occluded environments of surgical procedures.
Innovation Solution
A dual-spectrum imaging system using fluorescent markers that can image in both visual and near-infrared spectra, allowing for robust tracking of surgical tools and tissues, with real-time control via visual servoing, enabling semi-autonomous and automated surgical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If fluorescent markers are used for tracking surgical tools and tissues, then tracking reliability is improved, but device complexity increases due to dual-spectrum imaging requirements
Solution Approach 1:
The patent combines visual spectrum imaging and near-infrared imaging into a single dual-spectrum imaging system. The system uses a single camera that can capture images in both spectral ranges, eliminating the need for separate imaging systems and reducing overall device complexity while maintaining high tracking reliability through the complementary information from both spectral domains.
Solution Approach 2:
The imaging system is designed to perform multiple functions by capturing images in both visual and near-infrared spectra using a single camera. This multi-functional capability allows the system to track fluorescent markers, visualize tissue structures, and provide depth information all through one unified imaging platform, reducing the number of separate devices needed.
2Manufacturing precision
If real-time tracking with high signal-to-noise ratio is achieved, then automation precision is improved, but energy consumption increases
Solution Approach 1:
The system uses periodic illumination with fluorescent markers that are excited by specific wavelength light sources. Instead of continuous illumination, the system employs pulsed or periodic lighting that synchronizes with the camera exposure, reducing overall energy consumption while maintaining high signal-to-noise ratio during the critical imaging moments.
Solution Approach 2:
The system optimizes the spectral parameters by selecting specific fluorescent markers with distinct emission wavelengths in the near-infrared range. By changing the illumination wavelength to match the excitation spectrum of the markers, the system achieves high signal-to-noise ratio with minimal energy input, as the fluorescent conversion efficiency is maximized at the matched wavelength.
3Reliability
If dual-spectrum imaging is used to handle occlusion, then tracking robustness is improved, but measurement precision requirements increase
Solution Approach 1:
The patent transitions from two-dimensional visual imaging to three-dimensional near-infrared imaging by using stereo camera pairs. This dimensional change provides depth information that helps distinguish between occluded and visible markers, allowing the system to maintain tracking robustness even when markers are partially blocked, as the 3D spatial relationships remain detectable through the near-infrared channel.
Solution Approach 2:
The system uses composite imaging data by fusing visual spectrum images and near-infrared images into a unified representation. The visual images provide good contrast for superficial markers while the near-infrared images penetrate deeper tissues and provide depth information. This composite approach allows the system to overcome the limitations of single-spectrum imaging and maintain precise measurement under occlusion conditions.
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
The system provides high signal-to-noise ratio imaging, allowing for reliable tracking of markers even under occlusion, enabling more robust and reliable automation of surgical tasks with reduced error rates and improved safety through visual, audio, and haptic feedback.
Implementation Method 1
A dual-spectrum imaging system using fluorescent markers that can image in both visual and near-infrared spectra
Data Source
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AI summary
System and method for tracking and control in medical procedures. The system including a device that deploys fluorescent material on at least one of an organ under surgery and a surgical tool, a visual light source, a fluorescent light source corresponding to an excitation wavelength of the fluorescent material, an image acquisition and control element that controls the visual light source and the fluorescent light source, and captures and digitizes at least one of resulting visual images and fluorescent images, and an image-based tracking module that applies image processing to the visual and fluorescent images, the image processing detecting fluorescent markers on at least one of the organ and the surgical tool.