Spinal Surgery Navigation Using Projected Patterns and INS Tracking
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Solution Overview
Problem
Current computer-aided surgery systems face challenges with inaccurate tracking due to patient movement during surgery, occlusion issues, and the need for real-time and accurate feedback for navigating surgical instruments, particularly in spinal surgeries.
Innovation Solution
A computerized system using a light projector, 3D video cameras, and an inertial navigation subsystem to track vertebrae and surgical tools, providing real-time feedback and continuous tracking, even with patient movement, through a tool tracker and wireless communication.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional marker-based tracking systems are used, then the system structure is relatively simple, but tracking accuracy deteriorates due to patient movement and occlusion during surgery
Solution Approach 1:
The patent introduces a pattern projection system as an intermediary between the camera and the vertebrae. The projected pattern serves as a mediator that creates high-contrast visual markers on the vertebrae surface, enabling the camera to accurately track vertebrae position and orientation even during patient movement, without requiring complex hardware modifications
Solution Approach 2:
The system utilizes optical contrast changes by projecting patterns with distinct brightness differences onto the vertebrae. The high-contrast pattern appears bright in the captured images while the surrounding tissue remains darker, enabling reliable feature detection and tracking through optical property variations rather than physical marker attachment
2Reliability
If real-time tracking feedback is implemented, then surgical navigation accuracy is improved, but the system complexity and computational requirements increase
Solution Approach 1:
The system implements continuous real-time feedback by repeatedly capturing images, detecting the projected pattern position, calculating vertebrae transformation matrices, and updating the surgical navigation display. This closed-loop feedback mechanism maintains accurate navigation information throughout the surgical procedure, allowing surgeons to monitor and correct tool positioning in real-time
Solution Approach 2:
The system performs preliminary action by pre-projecting the pattern onto the vertebrae before surgical tool insertion and pre-calculating the expected visual appearance in captured images. This preparation enables rapid real-time tracking during surgery without requiring complex on-the-fly computations, reducing computational burden while maintaining navigation accuracy
3Measurement precision
If multiple cameras are used for 3D tracking, then measurement accuracy is improved, but the device complexity and cost increase
Solution Approach 1:
The system transitions from traditional 2D image analysis to 3D spatial understanding by using stereo vision from multiple cameras. The pattern detection algorithm processes images from different camera angles to calculate three-dimensional vertebrae position and orientation, extracting depth information through triangulation and perspective geometry rather than requiring additional complex sensors
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
Enables accurate, real-time tracking and navigation of surgical instruments relative to vertebrae, overcoming occlusion and patient movement, enhancing surgical precision and efficiency.
Implementation Method 1
a light projector configured to project at least one pattern onto at least one spine
Implementation Method 2
an inertial navigation subsystem (INS) to repeatedly compute an output tool-status indication of a current orientation and of a current position of at least one tool
Data Source
Figure 1~2
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Figure 3b
AI summary
A computerized method aiding a surgeon end-user, comprising Providing a light projector configured to project at least one pattern onto spine, Providing 3D video cameras operative, when the spine is in their field of view, to capture 3D video imagery of the spine and pattern; Providing a tool tracker comprising an INS operative to repeatedly compute an output tool-status indication of a current orientation and position of tool used during spine surgery, and a wireless communication module providing data communication between subsystem and a processor including sending the output tool-status indication to the processor; the processor including logic configured to receive the output tool-status indication generated by the tool tracker and the 3D video imagery, and to track vertebra, using the pattern, which is known to the processor, and accordingly to provide feedback to the surgeon.