Optical Surface Scan Registration for Surgical Coordinate Systems
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Solution Overview
Problem
Current preoperative imaging procedures in surgical settings, particularly in dentistry, face inaccuracies due to anatomical changes between initial and actual surgical stages, requiring multiple CT scans and risking misalignment of fiducial markers, which complicates precise surgical planning and execution.
Innovation Solution
A method and system utilizing an optical surface scan to create a three-dimensional surface image of the object, including a registration element, to register the object with a coordinate system, potentially eliminating the need for additional CT scans by correlating the object with the registration element and guiding robots for precise surgical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple CT scans are performed (one preoperatively and one on surgery day with fiducial markers), then the surgical plan can be created and registered with patient anatomy, but the procedure becomes complex and time-consuming with increased risk of anatomical changes between scans
Solution Approach 1:
The optical scan and fiducial marker registration are performed preoperatively along with the first CT scan. This preliminary capture of patient anatomy with fiducial markers eliminates the need for a second CT scan on surgery day, reducing procedural complexity while maintaining registration accuracy through the use of the pre-captured optical scan data
Solution Approach 2:
An optical scan creates a digital three-dimensional copy of the patient's anatomy and fiducial markers. This optical copy serves as a substitute for requiring a second physical CT scan, reducing the imaging procedure complexity while preserving the registration information needed for surgical guidance
2Reliability
If a second CT scan is performed on the day of surgery with fiducial markers, then registration can be achieved, but the procedure requires more time and increases the risk of anatomical changes between scans
Solution Approach 1:
The optical scanning and fiducial marker placement are performed preoperatively, capturing the patient's anatomy and marker positions before surgery. This preliminary action eliminates the need for time-consuming second CT scanning on surgery day while ensuring registration reliability by capturing data when the anatomy is stable and known
3Ease of operation
If fiducial markers are placed and registered between two different CT scans, then surgical guidance can be established, but anatomical changes or shifts between scans may cause misalignment and reduce precision
Solution Approach 1:
The optical scan merges the capture of patient anatomy and fiducial markers into a single integrated three-dimensional dataset. By combining these elements in one preoperative scanning session rather than separating them across two CT scans, the system ensures that the anatomical structures and markers are captured in their correct spatial relationship, eliminating misalignment issues
Solution Approach 2:
The optical scanning creates an accurate digital copy of both the patient anatomy and fiducial markers in their true spatial configuration. This optical copy preserves the precise geometric relationships between anatomical features and markers, ensuring that surgical guidance can be established with high precision without the degradation that occurs when using separate scans taken at different times
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
This approach reduces the need for multiple CT scans, minimizes anatomical change risks, and enhances surgical precision by accurately registering anatomical features and fiducial markers within the Patient Coordinate Space, allowing for more reliable and efficient robotic surgical guidance.
Implementation Method 1
conducting an optical surface scan of the object and the registration element, using an optical scanner, to form a three-dimensional surface image of the object
Data Source
AI summary
A method of relating an object to a coordinate system, the object being supported by a support element, and the object and the support element being housed within a housing, includes engaging a registration element with the object or the support element, conducting an optical surface scan of the object and the registration element, using an optical scanner, to form a three-dimensional surface image of the object, the three-dimensional surface image having the coordinate system associated therewith, with the registration element being associated with the coordinate system, and correlating the object with the registration element in the three-dimensional surface image so as to register the object with the coordinate system. Associated methods and systems are also provided.