Tracked Laser Grid and Camera for Deformable Organ Surface Fitting
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Solution Overview
Problem
Existing 3D sensing technologies, such as LiDAR sensors and laparoscopic cameras, are inadequate for accurately acquiring 3D information of organs during medical procedures due to cost, accuracy, and applicability issues, especially when organs deform during surgery.
Innovation Solution
A method and system using a camera and laser emitter inserted into a patient's body, tracked by a tracker, to generate a point cloud of a target organ by determining 3D coordinates through laser and image line equations, enabling a robot arm to control surgical instruments with precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional 3D sensors (LiDAR, depth cameras) are used to acquire 3D information of organs, then 3D spatial information can be obtained, but the cost is high and accuracy is insufficient for deformable organs during surgery
Solution Approach 1:
The patent uses laser lines as an intermediary to bridge the camera and the organ surface. By projecting laser lines onto the organ and capturing their deformation through the camera, the system indirectly measures organ surface geometry and deformation, achieving high precision 3D information acquisition suitable for surgical applications
Solution Approach 2:
The patent replaces traditional mechanical 3D scanning systems (LiDAR, depth cameras) with an optical-based system using laser projection and camera capture. This substitution eliminates the need for complex mechanical scanning components, reducing cost while improving accuracy for deformable organ measurement during surgery
2Area of stationary object
If multiple laparoscopic cameras are deployed to determine 3D information of an organ, then 3D spatial data can be collected, but the field of view is limited and the space for movement is restricted
Solution Approach 1:
The patent transitions from using multiple cameras in 3D space to using a single camera with laser line projection. The laser lines add a dimensional reference (patterned light structure) that enables the single camera to capture 3D surface information, effectively expanding the functional field of view without adding more cameras
Solution Approach 2:
The patent extracts the essential 3D measurement function from complex multi-camera systems and concentrates it into a single camera combined with laser projection. By removing unnecessary cameras and tracking infrastructure, the system achieves the same 3D information acquisition capability with reduced complexity
3Adaptability or versatility
If traditional 3D sensors are used during surgery, then 3D information can be obtained, but the system cannot adapt to organ deformation during the procedure
Solution Approach 1:
The patent implements real-time feedback by continuously capturing laser line patterns on the organ surface during surgery. As the organ deforms, the laser lines deform accordingly, and the system processes these changes to update the 3D model in real-time, maintaining measurement precision throughout the surgical procedure
Solution Approach 2:
The patent creates a dynamic measurement system where the laser projection and camera capture operate in real-time during surgery. The system adapts to organ deformation by continuously updating the 3D model based on current laser line patterns, transforming a static measurement approach into a dynamic one that responds to physiological changes
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
Enables accurate, real-time 3D modeling of deformable organs, providing valuable guidance for surgical procedures by aligning a fitted 3D model with the actual organ surface, enhancing surgical precision and robot arm control.
Implementation Method 1
a laser emitter emits, at tracked moving locations, laser beams that hit the target organ
Implementation Method 2
laser beams that hit the target organ at multiple points which are captured by the camera in an image
Data Source
AI summary
The present teaching relates to generating a point cloud of a target organ using a camera and a laser emitter inserted into a patient's body near the target organ and tracked by a tracker. The laser emitter emits, at tracked moving locations, laser beams that hit the target organ at multiple points which are captured by the camera in an image. A three-dimensional (3D) coordinate for each point is determined based on a laser line equation, connecting the laser emitter and the point, and an image line equation, connecting the camera and the point. The 3D coordinates for the multiple points are used to generate the point cloud.