Surgical Microscope Pose Fusion Using Movable External Detection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing pose detection systems in operating theaters face challenges in accurately determining the pose of objects outside the captured region of surgical microscopes, requiring markers that occupy spatial volume and interrupt operations, or using multiple cameras with large footprints, leading to inefficiencies and prolonged procedures.
Innovation Solution
A method and system that utilize a movable microscope-external pose detection device to determine the pose of objects in a first coordinate system relative to the operating theater, transforming this pose into the reference coordinate system of the surgical microscope's internal pose detection device, enabling accurate and quick fusion of intraoperative and preoperative information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If markers or targets are arranged on objects to enable pose determination by tracking systems, then pose detection accuracy is improved, but the spatial volume occupied by markers and the distance requirements between imaging units and objects worsen the suitability for microsurgical interventions
Solution Approach 1:
The patent replaces the mechanical/optical marker-based tracking system with a magnetic field-based detection system. Instead of using physical markers that occupy space and require distance for detection, the invention uses magnetic markers that can be detected through magnetic field measurements, eliminating the need for large spatial separation between imaging units and objects.
Solution Approach 2:
The surgical microscope is equipped with both microscopic imaging capability and pose detection capability through integration of magnetic field sensors. This multi-functional approach allows the same device to perform both high-magnification imaging and spatial tracking without requiring separate dedicated systems.
2Adaptability or versatility
If a second video camera is used to determine the pose of objects outside the microscope's captured region, then the detection range is improved, but the footprint of the tracking system and the time required for positioning and repositioning the camera worsen surgical efficiency
Solution Approach 1:
The surgical microscope integrates multiple functions including microscopic imaging, magnetic field sensing for pose detection, and surround imaging capabilities. This eliminates the need for separate external cameras and their associated positioning requirements, allowing all detection functions to be performed from the microscope's fixed position.
Solution Approach 2:
The patent combines the pose detection system with the surgical microscope by integrating magnetic field sensors and processing units into the microscope structure. This merging of functions into a single integrated system eliminates the need for separate camera systems and reduces the overall footprint in the operating theater.
3Device complexity
If the captured region of the pose detection device is limited to the microscope's field of view, then the device complexity is reduced, but the ability to detect objects in the wider surroundings worsens the utility for comprehensive surgical navigation
Solution Approach 1:
The patent implements a dynamic pose determination approach where the system can selectively focus on different regions of interest. The magnetic field sensors can detect markers throughout the operating theater space, and the system dynamically determines poses for objects both within and outside the immediate microscope field of view based on surgical needs.
Data Source
AI summary
The invention relates to a method and a system for determining a pose of at least one object in an operating theatre, in a reference coordinate system of a pose detection device of a surgical microscope, involving the determination of the pose of the object by way of a movably arranged microscope-external pose detection device in a first coordinate system, the first coordinate system being a coordinate system that is arranged to be stationary relative to the operating theatre, the determination of the pose of the reference coordinate system by the non-stationary microscope-external pose detection device in the first coordinate system, and the transformation of the pose of the object from the first coordinate system into the reference coordinate system of the pose detection device of the surgical microscope.