Radiopaque Marker Tool Localization in Skeletal Imaging
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Solution Overview
Problem
Current medical procedures for skeletal anatomy, such as spine surgery, rely heavily on fluoroscopic guidance, which exposes patients and staff to significant radiation, and require expensive Computer Aided Surgery (CAS) systems with complex tracking technologies, limiting tool selection and increasing costs.
Innovation Solution
A system using a computer processor to register 3D image data with 2D x-ray images by generating multiple 2D projections, allowing for accurate tool localization and path simulation without the need for additional tracking sensors or calibration, using radiopaque markers to facilitate image registration and provide a visual roadmap for surgeons.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fluoroscopic guidance is used for real-time imaging during surgery, then procedural accuracy is improved, but radiation exposure to patient and staff increases significantly
Solution Approach 1:
The system performs preliminary actions by acquiring complete 3D imaging data (CT/MRI) before surgery begins, and pre-registering this data to the patient's anatomy using radiopaque markers. This allows the surgical pathway to be planned and visualized in advance, eliminating the need for continuous fluoroscopic imaging during the procedure while maintaining procedural accuracy through pre-established spatial relationships.
Solution Approach 2:
The system creates a virtual copy of the patient's anatomy and surgical tools within the 3D imaging space. By registering radiopaque markers on physical tools to their representations in the 3D dataset, the system allows surgeons to navigate using this virtual model without requiring real-time fluoroscopic copies, thereby reducing radiation exposure while preserving measurement precision.
2Measurement precision
If Computer Aided Surgery systems with tracking technologies are implemented, then navigation accuracy is improved, but system cost and complexity increase
Solution Approach 1:
The system extracts and eliminates the complex tracking infrastructure from traditional CAS systems. Instead of using multiple cameras, electromagnetic fields, or robotic arms with integrated sensors, the invention relies solely on radiopaque markers that can be visualized within the existing 3D imaging dataset, thereby maintaining navigation accuracy while dramatically reducing system complexity.
Solution Approach 2:
The radiopaque markers serve multiple functions: they enable anatomical landmark identification, provide reference points for image registration, and allow tool localization within the 3D space. This multi-functional approach replaces the need for separate tracking sensors, cameras, and calibration systems, reducing overall device complexity while preserving navigation accuracy.
3Measurement precision
If multiple tracking sensors are attached to surgical tools, then tool localization accuracy is improved, but procedural simplicity and cost-effectiveness deteriorate
Solution Approach 1:
The system uses inexpensive, disposable radiopaque markers attached to tools instead of expensive, reusable electronic tracking sensors. These markers are simple radiographic elements that can be seen on standard x-ray images, eliminating the need for complex sensor electronics, power sources, and calibration procedures, thereby maintaining tool localization accuracy while greatly simplifying the procedure and reducing costs.
Solution Approach 2:
The system replaces mechanical and electronic tracking systems with a radiographic imaging-based localization method. Instead of using motors, encoders, or electromagnetic sensors to track tool position, the invention uses the inherent visibility of radiopaque markers in x-ray imaging to determine tool location and orientation within the 3D anatomical space, simplifying the overall system while maintaining precision.
Data Source
Figure 1A
Figure 1B
Figure 2
AI summary
3D image data of a skeletal portion is acquired. A location of a proximal portion of a tool is calculated and a location is derived of a distal portion of the tool with respect to the skeletal portion, with respect to the 3D image data. A display indicates the derived location. First and second 2D images of the distal portion of the tool are acquired from two different poses of a 2D imaging device with respect to the subject and registered with the 3D image data. The location of the distal portion with respect to the 3D image data of the skeletal portion is determined based on the registration and an identified location of the distal portion within the 2D x-rays. Based upon the determined location, the display updates the indicated location of the distal portion. Other embodiments are also described.