Robotic Endoscopic Pose Estimation Using Fluoroscopic Fiducial Markers

The patent introduces fluoroscopic imaging as an intermediary tool to capture images of the patient's anatomy and medical instruments. These images serve as a mediator between the physical surgical environment and the navigation system, enabling precise localization without requiring direct complex sensing on the instruments themselves. The pose estimation algorithm then processes these intermediary images to derive position and orientation information.

The patent replaces complex mechanical tracking systems with image-based fluoroscopic navigation. Instead of using mechanical sensors, electromagnetic trackers, or complex robotic positioning systems, the solution substitutes a fluoroscopic imaging system that captures visual information and uses computational pose estimation to determine instrument locations, thereby reducing mechanical complexity while maintaining or improving measurement precision.

The patent implements preliminary action by pre-processing fluoroscopic images to automatically detect and track medical instruments and anatomical landmarks before navigation decisions are made. The system performs preliminary pose estimation and localization calculations in advance, creating a ready-to-use navigation framework that guides subsequent surgical steps. This preliminary processing establishes standardized reference frames and instrument positions that improve diagnostic consistency while automating complex procedural steps.

The patent incorporates feedback mechanisms where fluoroscopic images continuously provide real-time information about instrument positions and anatomical structures. The navigation system processes these feedback images to update pose estimates and guide instrument movement, creating a closed-loop control system. This continuous feedback ensures standardized navigation protocols are maintained while providing real-time guidance that simplifies operator decision-making and improves reliability.