Exoscope Instrument Boundary Detection for Marker-Free Autofocus
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Solution Overview
Problem
Surgical instruments with fiducial markers can be cumbersome and prone to line-of-sight obstructions, making them difficult to track accurately and focus using existing navigational systems, especially in constrained surgical environments.
Innovation Solution
A computing device processes images to detect instrument boundaries and automatically adjust the focus of an exoscope based on the detected positions of instrument tips, eliminating the need for fiducial markers and overcoming line-of-sight issues.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fiducial markers are affixed to surgical instruments for tracking, then instrument position detection is enabled, but the instruments become cumbersome and are prone to line-of-sight obstructions
Solution Approach 1:
The patent extracts the fiducial markers from the surgical instruments, eliminating the need to attach markers to instruments. Instead, the system detects instruments directly through their visual appearance in the exoscope video feed, removing the source of operational cumbersome-ness while maintaining tracking capability
Solution Approach 2:
The system creates a digital model of the surgical instrument based on visual detection of its外形 (external shape), replacing the physical fiducial marker approach. The boundary detection algorithm captures the instrument's contour and uses it for tracking, eliminating the need for separate marker components
2Reliability
If fiducial markers are used for instrument tracking, then navigation systems can detect instrument positions, but tracking consistency is compromised due to line-of-sight obstructions
Solution Approach 1:
The patent transitions from detecting discrete fiducial marker points to detecting the continuous boundary contour of the instrument. This dimensional approach allows the system to track the instrument even when partially obscured, as the detectable portion of the boundary provides sufficient information for position estimation
Solution Approach 2:
The system replaces the mechanical fiducial marker attachment system with an optical detection system that identifies instruments through their visual appearance and boundary characteristics in the video feed, eliminating the physical markers that are vulnerable to occlusion
3Measurement precision
If tracking cameras are used to detect fiducial markers, then instrument position can be tracked in three dimensions, but the system complexity increases and costs increase
Solution Approach 1:
The patent merges the instrument detection function with the existing exoscope video capture system. The same camera that provides the surgical view is also used for instrument detection, eliminating the need for separate tracking cameras and reducing system complexity while maintaining three-dimensional tracking capability through boundary analysis
Solution Approach 2:
The exoscope camera is given dual functionality: it serves both as the surgical visualization device and as the instrument detection device. The boundary detection algorithm processes the video feed to extract instrument position information, making the single camera system multi-functional and reducing overall system complexity
Data Source
AI summary
A method includes: capturing, via a camera, an image depicting an instrument; detecting a boundary of the instrument within the image; determining, based on the boundary, a region of interest within the image, the region of interest corresponding to a distal portion of the instrument; and controlling the camera to focus on the region of interest for capture of a further image.