Real-Time Endoscopic Anatomy Registration for 3D Surgical Navigation
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Solution Overview
Problem
Surgeons face difficulties in orienting themselves within patient anatomy during endoscopic spine surgery due to limited visibility through small incisions, making it challenging to identify anatomical structures accurately.
Innovation Solution
A system for determining the 3D pose of endoscopic instruments relative to the anatomy using video images and models, combined with X-ray imaging and data processing, to provide stable and accurate positioning, even when the anatomy is moving.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If endoscopic surgery is performed through small incisions, then tissue damage is reduced and recovery is faster, but the surgeon's ability to orient and identify anatomical structures is compromised
Solution Approach 1:
The patent transforms the 2D endoscopic view into a 3D spatial understanding by integrating fluoroscopic images and preoperative 3D models. The system registers multiple imaging modalities (endoscopy, fluoroscopy, CT/MRI) to create a comprehensive 3D representation of anatomical structures, allowing surgeons to navigate and identify structures across different spatial dimensions rather than relying solely on limited 2D endoscopic visualization.
Solution Approach 2:
The patent introduces a navigation system as an intermediary that bridges the gap between the endoscopic view and the actual anatomy. This system processes and integrates data from multiple sources (endoscopic images, fluoroscopic images, 3D models) to generate augmented reality overlays and spatial guidance that help surgeons orient themselves without requiring larger incisions for direct visualization.
2Ease of operation
If only one entry path is used for instruments and endoscope, then the surgical approach is simplified, but the surgeon's orientation and spatial awareness of the anatomy is reduced
Solution Approach 1:
The patent merges multiple imaging modalities and information sources into a unified navigation system. By combining endoscopic video, fluoroscopic images, and preoperative 3D models into a single integrated system, the patent provides comprehensive anatomical orientation information through a single entry path, eliminating the need for multiple incisions while maintaining full spatial awareness.
Solution Approach 2:
The system compensates for the limited single-entry perspective by creating a multi-dimensional view of the anatomy. Through registration and integration of 3D models with 2D fluoroscopic and endoscopic images, the navigation system provides surgeons with spatial orientation information from multiple virtual angles and perspectives, effectively adding dimensional context to the single physical entry path.
3Reliability
If the anatomy is moving (e.g., during breathing), then physiological functions are maintained, but the positioning accuracy of instruments relative to the anatomy becomes difficult
Solution Approach 1:
The patent implements a dynamic tracking system that continuously monitors and adapts to anatomical movements. The navigation system uses real-time fluoroscopic imaging and image registration techniques to track the position of anatomical structures as they move during breathing and other physiological processes, automatically updating the spatial relationship between instruments and anatomy to maintain positioning accuracy despite continuous motion.
Solution Approach 2:
The system employs real-time feedback through continuous fluoroscopic monitoring and image registration. By constantly comparing the actual positions of anatomical structures with the preoperative 3D models and instrument positions, the navigation system provides ongoing feedback to adjust for physiological movements, ensuring that instrument positioning remains accurate throughout the surgical procedure despite anatomical dynamics.
Data Source
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AI summary
Devices and methods are proposed allowing for a determination of a 3D position and orientation of an endoscope relative to an anatomy of interest based on a video image provided by the endoscope and on a model of the anatomy of interest which is visible in the video image.