Surgical Instrument Pose Detection with Optical Ambiguity Resolution
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Solution Overview
Problem
Ambiguities in pose detection of instruments in an operating theater due to insufficient markers or image capturing devices, leading to reduced accuracy and the need for complex resolution methods.
Innovation Solution
A method and system using optical pose detection devices, including a surgical microscope and microscope-external detection, to determine instrument pose by checking for biunique determination and evaluating additional information to resolve ambiguities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the number of markers is reduced to save space, then the device complexity is reduced, but the measurement precision of pose detection deteriorates due to ambiguous pose determination
Solution Approach 1:
The patent introduces image capturing devices as intermediary elements that capture visual information about the instrument and its markers. These devices serve as mediators between the markers and the pose detection system, enabling the system to resolve ambiguities by analyzing multiple images from different viewpoints. The image capturing devices provide additional constraints that help determine the unique pose configuration even with fewer markers.
Solution Approach 2:
The patent transitions from a two-dimensional marker system to a three-dimensional pose determination by utilizing image capturing devices that provide depth information. By capturing images from multiple viewpoints and analyzing the spatial relationships in these images, the system gains an additional dimension of information that resolves pose ambiguities. This dimensional expansion allows the system to distinguish between multiple possible pose configurations that would otherwise be indistinguishable with markers alone.
2Device complexity
If the number of image capturing devices is reduced to save space, then the device complexity is reduced, but the measurement precision of pose detection deteriorates due to insufficient viewing angles
Solution Approach 1:
The patent makes the image capturing devices multi-functional by having them serve both as primary imaging devices for surgical visualization and as pose detection devices. This universality allows a single device to perform multiple functions, reducing the need for separate pose detection cameras while maintaining accurate pose detection capability. The same hardware infrastructure is utilized for both surgical imaging and pose tracking, thereby reducing overall system complexity.
Solution Approach 2:
The system implements feedback mechanisms where the pose detection algorithm continuously refines its estimates by analyzing image data from the capturing devices. The system uses the captured images to verify and correct pose determinations, creating a feedback loop that improves measurement precision. By iteratively processing image information and adjusting pose estimates, the system compensates for the limited number of capturing devices through intelligent algorithmic processing.
3Measurement precision
If complex measures are implemented to resolve ambiguities, then the measurement precision improves, but the device complexity and processing time increase
Solution Approach 1:
The patent performs preliminary actions by pre-configuring the pose detection system with known geometric relationships between markers and the instrument coordinate system. The system pre-establishes the spatial arrangement of markers relative to the instrument and stores this calibration data. During operation, this pre-computed information is directly utilized to resolve pose ambiguities without requiring complex real-time calculations, thereby reducing processing complexity while maintaining high measurement precision.
Solution Approach 2:
The system creates virtual copies of the physical markers and instrument geometry in the digital image processing domain. By representing the physical markers as digital models with known geometric properties, the system can perform computational operations on these copies to resolve pose ambiguities. This digital copying approach simplifies the resolution process compared to physical manipulation, as the computational models can be processed using efficient algorithms that leverage the known geometric relationships.
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
Enhances the accuracy of instrument pose detection by resolving ambiguities, allowing for precise tracking and overlay with pre-surgery data records.
Implementation Method 1
optical pose detection device... determining pose information of the instrument
Data Source
AI summary
A system and a method for optically detecting a pose of at least one instrument in an operating theater are provided. The method includes determining pose information of the at least one instrument with an optical pose detection device of a surgical microscope or with a microscope-external optical pose detection device, determining whether the pose information is biunique or whether a biunique determination of the pose of the instrument is possible, and evaluating additional information for determining additional pose information, at least for a case where no biunique determination of the pose is possible.