Endoscopic Trocar Position Estimation From Instrument Axis Intersections
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Solution Overview
Problem
Existing endoscopic surgical techniques face challenges in accurately determining the position and movement of trocars, which limit instrument placement and orientation, especially in minimally invasive procedures like laparoscopy, due to the transcription of three-dimensional information into two-dimensional images.
Innovation Solution
A method and device for processing images to automatically estimate the position of trocars in real time by analyzing at least two images with instruments in different positions and orientations, determining the instrument's position and orientation relative to a reference, and calculating the trocar's position through the intersection of main axes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If automatic estimation of trocar position is implemented using image processing, then measurement precision of trocar position is improved, but device complexity increases
Solution Approach 1:
The patent replaces mechanical/traditional manual methods of trocar position determination with an automated image processing system that uses computer vision algorithms to detect and track trocar positions in real-time during surgical procedures
Solution Approach 2:
The patent introduces an intermediary image processing device that acts as a mediator between the surgical field and the control system, automatically extracting trocar position information from images to enable precise instrument guidance without direct mechanical measurement
2Productivity
If real-time adjustment of surgical information display is enabled based on trocar positions, then productivity of surgical operation is improved, but loss of time for image processing increases
Solution Approach 1:
The patent implements continuous real-time image processing that operates without interruption during the surgical procedure, automatically updating trocar position detection and surgical information display to maintain continuous guidance without pauses or delays
Solution Approach 2:
The patent performs preliminary image processing and trocar position estimation in advance before critical surgical decisions are needed, pre-calculating instrument trajectories and preparing display information so that no time is lost during the actual surgical operation
3Ease of operation
If automatic estimation of trocar position is used, then ease of operation for instrument placement is improved, but reliability of position determination may worsen due to image quality variations
Solution Approach 1:
The patent implements a feedback mechanism that continuously monitors image quality and trocar detection accuracy, automatically adjusting processing parameters or alerting the surgical team when position determination reliability decreases due to poor image quality, thereby maintaining high operational ease while compensating for reliability concerns
Data Source
AI summary
The invention relates to a method for processing images acquired by an endoscope (12), for the automatic estimation of the position of at least one trocar (58) which is disposed on a wall (56) of the body of a patient, each trocar (58) being configured to permit the passage of an instrument (54) therethrough in order to access a cavity (50) in the body of the patient, characterized in that it comprises a step of acquiring images of the abdominal cavity (50) of the patient using the endoscope (12), each of the images showing at least one instrument (54) passing through each trocar (58), a step of determining, from the images, the position and orientation of the instrument (54) with respect to the position of the endoscope (12), a step of estimating, from the images, the position of each trocar (58) from at least two positions and orientations of the instrument (54).