Robotic 3D Structured Light Camera for Surgical Registration
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Solution Overview
Problem
Current registration techniques in computer-assisted surgery are imprecise, invasive, expensive, inconvenient, and time-consuming, particularly for procedures like posterior brain surgeries, which require accurate alignment of patient anatomy with medical imaging frames of reference.
Innovation Solution
A robotic surgical system equipped with a 3D camera and laser range finder integrated into an end effector of a robotic arm, enabling fast, non-invasive, and accurate registration of patient anatomy by capturing 3D images and tracking movements, allowing for real-time alignment and calibration without the need for invasive markers or expert intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If point-based registration with landmarks or markers is used, then registration can be performed, but precision is poor and the method is invasive
Solution Approach 1:
The patent replaces mechanical point-based registration with a 3D surface scanning system using structured light or time-of-flight cameras. Instead of physically touching the patient with a probe to identify landmarks, the system uses optical fields to capture the entire 3D surface geometry non-invasively, achieving superior precision through comprehensive surface data rather than discrete points
Solution Approach 2:
The patent transitions from 0D point-based registration to 3D surface-based registration. By capturing the complete three-dimensional surface geometry of anatomical structures, the system gains additional spatial dimensions for registration, enabling more accurate alignment between patient anatomy and medical imaging data without invasive procedures
2Measurement precision
If 3D surface model registration via probe is used, then registration can be performed, but the process is time-consuming and invasive
Solution Approach 1:
The patent replaces the mechanical probe-based 3D surface scanning system with a non-contact optical scanning system. Structured light projects patterns onto the patient's surface while cameras capture the deformed patterns, or time-of-flight cameras measure light travel time, enabling rapid 3D surface acquisition without physical contact, significantly reducing registration time while maintaining precision
Solution Approach 2:
The patent enables continuous 3D surface scanning by using optical fields that can capture the entire surface area in a single or few sweeps, rather than the discrete, sequential point-by-point probing method. This continuous scanning approach dramatically reduces the time required for registration while providing complete surface geometry data for accurate alignment
3Measurement precision
If traditional registration techniques are used, then registration can be performed, but expert intervention is required making the process inconvenient
Solution Approach 1:
The patent implements automated registration algorithms that independently process the captured 3D surface data and align it with pre-operative imaging data without requiring expert intervention. The system automatically identifies anatomical landmarks, performs iterative closest point algorithms, and completes the registration process autonomously, making the technology accessible to non-experts while maintaining high precision
Solution Approach 2:
The patent incorporates real-time feedback mechanisms where the system displays registration quality metrics, alignment accuracy, and allows for automated adjustment and refinement. This feedback loop enables the system to self-correct and optimize registration results without expert intervention, improving both convenience and reliability
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 solution provides a user-friendly, accurate, and non-invasive method for 3D acquisition and registration, enabling precise surgical procedures, including posterior approaches, by reducing the need for costly and time-consuming calibration processes and allowing for frequent recalibration to prevent drift errors.
Implementation Method 1
the camera including a laser rangefinder configured to output distance information from the camera to patient anatomy, the distance information detected using a laser of the laser rangefinder
Data Source
AI summary
A system or method may be used to provide registration, calibration, or tracking of patient anatomy using a camera and a robotic surgical system. The camera may include a structured light camera. The camera may be used to acquire an image of patient anatomy or a reference object. A method may include determining a distance (e.g., from the camera) or a location of the patient anatomy or the reference object. The robotic surgical system may include a robotic arm that may be configured to move based on the distance or location of the patient anatomy or the reference object.