Soft Tissue Navigation with Gravity Compensation
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Solution Overview
Problem
Surgical navigation of soft tissues, particularly in cranial surgery, is challenging due to the deformability of soft tissues under forces like gravity, which can cause movement during procedures, making it difficult to maintain accurate positioning and alignment with pre-operative medical images.
Innovation Solution
A system comprising a sensor unit with optical and inclination sensors to track positional data and gravity direction, coupled with a computing unit that computes the direction of gravity and determines spatial information of soft tissues using a computer model, providing surgical navigation data to ensure accurate tool positioning and accounting for tissue movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If surgical navigation is performed on soft tissues using pre-operative medical images, then surgical accuracy is improved, but tissue movement due to gravity causes misalignment between pre-operative images and actual tissue positions
Solution Approach 1:
The system performs preliminary actions by capturing the direction of gravity at the time of image acquisition and storing this information for later use during surgery. This preliminary measurement allows the system to compensate for gravity-induced tissue displacement by comparing the stored gravity direction with the current gravity direction during the procedure
Solution Approach 2:
The system implements feedback by continuously monitoring the current direction of gravity during surgery using inclination sensors, comparing it with the pre-stored gravity direction from imaging, and using this feedback to dynamically adjust and update the navigation system to account for tissue position changes
2Adaptability or versatility
If the patient's orientation changes during surgery relative to gravity, then surgical flexibility is improved, but soft tissue spatial position changes making navigation difficult
Solution Approach 1:
The system uses feedback from inclination sensors to continuously monitor changes in patient orientation relative to gravity. This feedback enables real-time detection of orientation changes, allowing the navigation system to compensate for resulting tissue position changes and maintain spatial information accuracy throughout the procedure
Solution Approach 2:
The system applies dynamics by transitioning from a static navigation approach based on fixed pre-operative images to a dynamic system that continuously adapts to changing patient orientations. The navigation data is updated in real-time based on measured gravity direction and computed tissue displacement, enabling accurate navigation despite orientation changes
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
The system effectively compensates for gravity-induced movement of soft tissues, enabling precise surgical navigation and alignment with pre-operative images, enhancing the accuracy and safety of minimally invasive procedures.
Implementation Method 1
an optical sensor to generate optical measurements from a tracker
Implementation Method 2
at least one other sensor to provide inclination measurements to determine a direction of gravity
Data Source
AI summary
There are provided systems and methods for soft tissue navigation. A sensor unit provides tracking information to determine positional data for a patient's structural anatomy and gravity direction measurements to determine a direction of gravity relative to the anatomy. A computing unit, during a procedure, computes the direction of gravity and determines spatial information for soft tissues of the patient, responsive to the direction of gravity. Expected soft tissue movement may be provided by a computer model modelling the mechanics of the soft tissues responsive to the direction of gravity, or by other means such as look up table. Surgical navigation data is presented via a display unit. Medical images may be registered and navigation provided relative to the images. Tool positions may be tracked via the sensor unit. Spatial differences in soft tissues between orientations of the patient (relative to gravity) may be determined and presented.