Integrated Optical Tracking for Recalibration-Free Intraoperative Guidance
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Solution Overview
Problem
Existing surgical guidance systems require inter-operative recalibration due to the need for fixed calibration between probe tracking and optical surface measurement systems, constraining surgical workflow and necessitating recalibration during procedures.
Innovation Solution
A system integrating a surface topology imaging device with an optical position measurement system, allowing for rigid attachment and fixed calibration, which tracks fiducial markers on movable instruments, enabling registration of three-dimensional image data without the need for inter-operative recalibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If separate probe tracking system and optical surface measurement system are used, then measurement capability is improved, but device complexity and calibration requirements increase
Solution Approach 1:
The patent combines the probe tracking system and optical surface measurement system into a single integrated system. The same optical cameras and processing unit that perform surface topography measurement also track the position of surgical probes by detecting fiducial markers, eliminating the need for separate tracking hardware and reducing system complexity.
Solution Approach 2:
The optical measurement system performs multiple functions: it captures images for surface topography reconstruction and simultaneously detects fiducial markers on probes for position tracking. This multi-functional approach replaces dedicated separate systems, reducing overall device complexity while maintaining measurement precision.
2Measurement precision
If fixed calibration between tracking system and optical measurement system is required, then measurement accuracy is improved, but ease of operation deteriorates due to recalibration requirements
Solution Approach 1:
By integrating probe tracking and surface measurement into one system with shared cameras and processing, the patent eliminates the need for inter-operative recalibration. The unified system maintains consistent coordinate transformations throughout the procedure, preserving measurement accuracy without requiring repeated calibration operations.
Solution Approach 2:
The system performs calibration once before the surgical procedure begins, establishing the coordinate transformation between the optical measurement system and probe tracking. This preliminary calibration remains valid throughout the procedure, eliminating the need for recalibration during surgery and improving operational ease.
3Reliability
If inter-operative recalibration is performed, then reliability of measurement is improved, but loss of time increases due to recalibration procedures
Solution Approach 1:
The integrated system performs both surface measurement and probe tracking with a single unified calibration, eliminating multiple recalibration steps. This maintains measurement reliability through consistent coordinate transformations while significantly reducing the time lost to recalibration procedures during surgery.
Solution Approach 2:
The system maintains continuous measurement capability throughout the surgical procedure without interruption for recalibration. The unified system continuously tracks probe positions and measures surface topography with consistent accuracy, eliminating downtime associated with recalibration operations.
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
Facilitates continuous surgical guidance by maintaining a fixed calibration, reducing the need for recalibration and enhancing surgical workflow efficiency by providing real-time, accurate positional feedback of instruments relative to pre-operative image data.
Implementation Method 1
an optical projection device for projecting optical radiation onto an exposed surface of the patient, such that backscattered optical radiation is suitable for optical surface topology detection; an optical source having a wavelength selected to illuminate a set of fiducial markers provided on a movable instrument; two or more cameras, wherein at least one of said two or more cameras is configured for imaging the backscattered optical radiation
Data Source
AI summary
Systems and methods for surgical guidance and image registration are provided, in which three-dimensional image data associated with an object or patient is registered to topological image data obtained using a surface topology imaging device. The surface topology imaging device may be rigidly attached to an optical position measurement system that also tracks fiducial markers on a movable instrument. The instrument may be registered to the topological image data, such that the topological image data and the movable instrument are registered to the three-dimensional image data. The three-dimensional image data may be CT or MRI data associated with a patient. The system may also co-register images pertaining to a surgical plan with the three-dimensional image data. In another aspect, the surface topology imaging device may be configured to directly track fiducial markers on a movable instrument. The fiducial markers may be tracked according to surface texture.