Markerless Endoscopic Navigation Using Depth Image Registration
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Solution Overview
Problem
Conventional computer-assisted surgical systems using bone-mounted markers for tracking patient anatomy in endoscopic procedures are invasive, cause iatrogenic injuries, require significant time and expertise for registration, and suffer from tracking inaccuracies due to electromagnetic field distortions, limiting surgical workflow efficiency and space.
Innovation Solution
A markerless surgical system utilizing optical tracking techniques that project structured electromagnetic radiation and analyze visual characteristics of the surgical site to register and track patient anatomy, eliminating the need for bone-fixed markers and electromagnetic tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If bone-mounted markers are used for tracking patient anatomy, then tracking capability is provided, but iatrogenic injuries occur and procedural time increases
Solution Approach 1:
The patent removes the bone-mounted markers and pin fixation system from the surgical procedure. Instead of inserting pins into the patient's bone to attach optical markers, the system uses the endoscope's own camera to capture images of the surgical site, extracting the tracking function from the invasive marker system and replacing it with a non-invasive image-based approach.
Solution Approach 2:
The patent replaces the mechanical pin-and-marker tracking system with an optical imaging system. Instead of using physical pins inserted into bone to hold optical markers that are detected by cameras, the system uses the endoscope camera to capture images of the surgical site and processes these images to determine the position and orientation of surgical tools and anatomical structures.
2Reliability
If bone-mounted markers are used for tracking, then anatomical tracking is achieved, but procedural complexity and time increase
Solution Approach 1:
The patent extracts the registration and tracking functions from the complex manual process of pin insertion and marker attachment. By using the endoscope camera to directly image the surgical site and process these images computationally, the system eliminates the time-consuming manual registration process while maintaining accurate tracking of anatomical structures and surgical tools.
3Ease of operation
If electromagnetic tracking is used in endoscopic procedures, then minimally invasive tracking is achieved, but field distortions cause tracking inaccuracies
Solution Approach 1:
The patent replaces electromagnetic tracking with optical image-based tracking. Instead of using electromagnetic fields that are vulnerable to distortion from surgical instruments and the surgical environment, the system uses the endoscope camera to capture images and computationally determines the positions and orientations of objects based on their visual characteristics and relationships in the images.
Solution Approach 2:
The patent introduces the endoscope camera and image processing system as an intermediary between the surgical site and the tracking function. Rather than relying on electromagnetic fields that can be distorted by the surgical environment, the system uses visual information captured by the camera and processed through computational algorithms to accurately track anatomical structures and tools without interference from electromagnetic field distortions.
4Reliability
If bone-fixed markers are used, then tracking is enabled, but operating space is reduced in endoscopic procedures
Solution Approach 1:
The patent extracts the tracking function from the bone-fixed marker system that occupies physical space within the surgical site. By using the endoscope camera to image the surgical site and process these images to determine positions and orientations, the system eliminates the need for physical markers and pins that would constrain the surgical field and reduce operating space.
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
The system avoids iatrogenic injuries, reduces procedural time and complexity, provides additional operating space, and maintains tracking accuracy by leveraging visual cues from the surgical site, enhancing surgical workflow efficiency.
Implementation Method 1
an endoscope and a computer system. The endoscope may comprise an emitter configured to project structured electromagnetic radiation (EMR) onto a surface and an image sensor configured to obtain a depth image of the surface based on the structured EMR
Data Source
AI summary
A controller of a surgical system is configured to receive a surgical plan associated with an endoscopic surgical procedure, receive a model of an anatomical structure associated with the endoscopic surgical procedure, segment a depth image of a surface of the anatomical structure to obtain surface geometry data of the anatomical structure, register the surface geometry data of the anatomical structure to the model of the anatomical structure, and update the surgical plan according to the registered surface geometry data.