Robotic 3D Laparoscope Registration Without Line-of-Sight Tracking
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Solution Overview
Problem
Current surgical navigation technologies are limited in laparoscopic surgery due to the lack of a stable reference frame for registering the internal surgical environment, which is distorted and lacks line of sight for tracking, hindering precise registration and visualization.
Innovation Solution
A robotic system integrated with a laparoscope that includes a 3D scanner and a ground truth reference frame, enabling accurate reconstruction and registration of the laparoscopic environment, combined with diagnostic capabilities for real-time data generation and augmented reality visualization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If standard tracking technology is used in laparoscopic surgery, then line of sight tracking is required, but the internal surgical environment lacks line of sight for tracking
Solution Approach 1:
The patent introduces an intermediary coordinate system transformation approach. Instead of directly tracking targets in the surgical field (which requires line of sight), the system uses the robotic arm's known coordinate system as an intermediary to map laparoscopic images to the preoperative imaging coordinate system. This eliminates the need for line-of-sight tracking of surgical targets.
Solution Approach 2:
The patent replaces the mechanical/optical tracking system (which requires line of sight to track physical targets) with a computational coordinate transformation system. The robotic arm's kinematic model and coordinate system serve as a substitute for direct optical tracking, allowing registration without line-of-sight requirements.
2Measurement precision
If tracking targets are attached to patient anatomy for registration, then stable ground truth is required, but laparoscopic anatomy is highly variable and distorts during surgery
Solution Approach 1:
The patent segments the registration problem into two independent parts: (1) registering the robotic arm coordinate system to the preoperative imaging coordinate system using stable external markers on the patient's body, and (2) mapping the deformable laparoscopic surgical field to the preoperative images through coordinate transformation. This separates the stable reference frame establishment from the deformable surgical field visualization.
Solution Approach 2:
The patent creates a virtual copy of the preoperative 3D imaging data and transforms it into the laparoscopic coordinate system. Instead of tracking physical targets on moving anatomy, the system generates a virtual representation of the surgical field that is registered to preoperative images through the robotic coordinate system, allowing accurate visualization without requiring stable physical markers in the deformable surgical field.
3Measurement precision
If preoperative images are used for navigation, then stable reference frame is required, but the surgical environment is internal and distorted
Solution Approach 1:
The patent implements a dynamic coordinate transformation system that adapts to the deformable surgical environment. The robotic arm's real-time position and orientation data dynamically update the transformation between the preoperative imaging coordinate system and the current laparoscopic view, allowing accurate navigation despite anatomical distortion during surgery.
Data Source
AI summary
A robotic system is integrated with the laparoscope effectively creating a 3D scanner which can be used during laparoscopic surgery. This enables advanced surgical navigation and visualization to aid with the surgical process. It also acts as a core data set to be used by the Digital Health Platform. This acts as the starting point for Virtual Reality reconstruction of the surgical procedure for both real time surgical guidance and advanced AI/ML development. Furthermore, diagnostic capabilities could also be integrated into the system to enable real time diagnostic data to be generated for use during the procedure. Coupling the diagnostic capabilities with the vision system of the laparoscope and the ground truth reference coordinate system of the robot enables quick Augmented Reality visualization through the Digital Health Platform.