3D Spine Navigation With Markerless Vertebra Tracking
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Solution Overview
Problem
Current computer-aided surgery systems face challenges in providing real-time, accurate tracking of surgical instruments due to patient movement during surgery, reliance on fixed markers that lose accuracy, and occlusion issues from body parts, leading to suboptimal navigation and feedback.
Innovation Solution
A system utilizing a light projector, 3D video cameras, and an inertial navigation subsystem (INS) to track vertebrae directly, providing real-time feedback through a tool tracker and wireless communication, enabling continuous tracking and navigation assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If fixed markers are used for tracking, then initial setup is simplified, but tracking accuracy deteriorates due to patient movement during surgery
Solution Approach 1:
The system transitions from static fixed markers to dynamic markerless tracking that adapts to patient movement. The AI-based tracking system continuously updates vertebrae positions throughout surgery, maintaining accuracy despite changes in patient posture or movement, thereby resolving the contradiction between initial setup simplicity and sustained tracking accuracy.
Solution Approach 2:
The system changes the tracking parameters from fixed spatial coordinates of markers to dynamic 3D coordinates of vertebrae surfaces. By using AI to continuously identify and track vertebrae landmarks in real-time images, the system adapts to changing anatomical positions while maintaining measurement precision throughout the surgical procedure.
2Device complexity
If traditional navigation systems are used, then basic tracking is provided, but real-time feedback and surgical precision deteriorate due to occlusion from body parts
Solution Approach 1:
The system introduces AI-based image processing and 3D reconstruction as intermediaries between the camera system and the tracking function. These intermediaries process images to identify vertebrae landmarks even when partially occluded, converting 2D images into accurate 3D position data that compensates for occlusions from body parts and improves real-time tracking precision.
Solution Approach 2:
The system replaces mechanical marker-based tracking with AI-based computer vision and 3D reconstruction. This substitution eliminates the need for physical markers that can be occluded, using instead algorithms that can infer vertebrae positions from visual data even when parts of the anatomy are hidden, thereby maintaining measurement precision under occlusion conditions.
3Reliability
If markers are attached to the spine for tracking, then tracking can be established, but accuracy deteriorates over time due to marker displacement or loss
Solution Approach 1:
The system uses the spine's own anatomical features (vertebrae surfaces and landmarks) as tracking targets instead of external markers. The AI algorithm continuously identifies these self-contained anatomical features in real-time images, eliminating dependency on external markers that can displace or be lost, thereby maintaining both reliability and precision throughout the surgical procedure.
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 of vertebrae and surgical instruments, compensating for patient movement and occlusions, enhancing surgical precision and efficiency by providing direct visual feedback to the surgeon.
Implementation Method 1
a light projector configured to project at least one pattern onto at least one spine
Implementation Method 2
plural 3d video cameras operative, when the spine is in their field of view, to capture typically 3d video imagery of the spine and pattern
Implementation Method 3
an inertial navigation subsystem (INS) to repeatedly compute an output tool-status indication of a current orientation aka angle aka angular orientation and of a current position of at least one tool
Data Source
AI summary
A computerized method aiding a surgeon end-user, including 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.