Markerless Endoscopic Navigation Using Structured Light Registration
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Solution Overview
Problem
Conventional computer-assisted surgical systems using bone-mounted markers for tracking patient anatomy are invasive, cause iatrogenic injuries, require significant time and expertise for registration, and suffer from tracking inaccuracies due to electromagnetic field distortions, especially in endoscopic procedures.
Innovation Solution
A markerless surgical navigation system using 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 reducing reliance on 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 surgical time increases
Solution Approach 1:
The patent removes the bone-mounted markers and pin fixation system from the surgical procedure. Instead of extracting tissue samples or inserting pins into bones, the system uses optical tracking cameras to capture and analyze the natural visual characteristics of anatomical landmarks, eliminating the harmful pin-site injuries while maintaining tracking capability.
Solution Approach 2:
The patent replaces the mechanical pin-fixation system with an optical imaging system. Instead of mechanically securing markers to bones, the system uses cameras to capture images of anatomical structures and computationally determines their positions and orientations, substituting mechanical intervention with non-invasive optical measurement.
2Measurement precision
If manual registration of patient anatomy is performed, then tracking accuracy is achieved, but surgical time and expertise requirements increase
Solution Approach 1:
The system automatically performs registration by having the optical tracking system capture images of anatomical landmarks and computationally determine their positions and orientations. The system self-calibrates using the known geometry of tracked objects and the captured images, eliminating the need for manual registration procedures and reducing surgical time while maintaining accuracy.
Solution Approach 2:
The patent performs registration actions automatically in advance during the surgical procedure setup. The optical system captures images of anatomical landmarks and computes their positions before the main surgical task begins, eliminating the need for time-consuming manual registration steps during surgery.
3Object-affected harmful factors
If electromagnetic tracking is used for minimally invasive procedures, then invasiveness is reduced, but tracking accuracy deteriorates due to field distortions
Solution Approach 1:
The patent replaces electromagnetic tracking with optical tracking using cameras. Instead of using electromagnetic fields that are vulnerable to distortions from surgical instruments and equipment, the system uses visible light imaging to capture and analyze anatomical structures, providing minimally invasive tracking without field distortion issues.
Solution Approach 2:
The patent introduces an intermediary optical imaging system between the surgeon and the anatomical structures. Instead of directly using electromagnetic sensors that are susceptible to field distortions, the system uses cameras to capture images and computationally determines positions, serving as an intermediary that avoids direct exposure to electromagnetic field distortions.
4Reliability
If bone-fixed markers are used in endoscopic procedures, then tracking is enabled, but operating space is reduced
Solution Approach 1:
The patent removes the bone-fixed markers and pin fixation system from the surgical procedure. Instead of extracting tissue samples or inserting pins into bones, the system uses optical tracking cameras to capture and analyze the natural visual characteristics of anatomical landmarks, eliminating the harmful pin-site injuries while maintaining tracking capability.
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, streamlines surgical workflows, reduces time and cost, and provides additional operating space by using optical tracking to accurately navigate surgical procedures without the need for bone fixation, thereby enhancing surgical precision and efficiency.
Implementation Method 1
an endoscope and a computer system coupled to the endoscope. 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 surgical system and method for markerless intraoperative navigation is provided. The system can includes a structured light system that can be utilized to intraoperatively sense three-dimensional surface geometry. The computer system is configured to segment a depth image to obtain surface geometry data of an anatomical structure embodied within the depth image, register the surface geometry data of the anatomical structure to a model, and update the surgical plan according to the registered surface geometry data. The surgical system is an endoscopic surgical system.