Stereo-Optical 3D Surface Mapping for Intraoperative Tumor Shift
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Solution Overview
Problem
Current methods for determining the intraoperative location of tumors or structures in mammalian tissues during surgery face challenges due to brain deformation caused by opening the skull, which leads to inaccuracies in preoperative imaging, especially when surgical cavities and tissue displacement by instruments are not accounted for.
Innovation Solution
A method using a stereo 3D surface-mapping device to extract surface profiles, register them with preoperative imagery, and calculate displacements to determine intraoperative locations of tumors or structures, incorporating a computer model that accounts for surgical cavities and instrument displacement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If intraoperative MRI or CT scans are used to re-locate structures, then measurement precision is improved, but loss of time increases and device complexity increases
Solution Approach 1:
The patent replaces the mechanical imaging system (MRI/CT scanners) with an optical surface mapping system that uses stereo cameras and optical flow algorithms to track tissue deformation in real-time, eliminating the need for repeated heavy imaging scans while maintaining location accuracy
Solution Approach 2:
The patent creates a computational model (copy) of the tissue deformation based on surface feature tracking, which then predicts the new locations of internal structures without requiring physical re-imaging, thus saving time while maintaining measurement precision
2Measurement precision
If repeated intraoperative MRI or CT scans are performed, then measurement precision is improved, but device complexity increases and loss of time increases
Solution Approach 1:
The patent substitutes complex mechanical imaging devices with a simpler optical surface mapping system that uses stereo cameras and computational algorithms to track deformation and predict structure locations continuously without repeated scanning
Solution Approach 2:
The patent implements continuous surface mapping and deformation tracking throughout the surgical procedure, providing ongoing location information without the intermittent, discrete nature of repeated MRI/CT scans, thereby reducing overall system complexity and time loss
3Device complexity
If preoperative imaging is used without accounting for brain deformation, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent performs preliminary surface mapping of the brain before surgery and establishes a library of surface features that can be tracked throughout the procedure, enabling accurate deformation compensation while maintaining system simplicity
Solution Approach 2:
The patent implements a feedback mechanism where intraoperative surface mapping data is continuously compared with preoperative images, and deformation models are updated in real-time to compensate for tissue displacement, thereby maintaining high measurement precision without increasing overall system complexity
Data Source
AI summary
A system and method for determining intraoperative locations of a lesion in tissue from lesion locations determined in preoperative imaging includes determining three dimensional locations of surface features of the organ in the preoperative images. A preoperative surface map is extracted from stereo images annotated with surface features from preoperative images. An intraoperative surface map of the organ is extracted from stereo images, and surface features are identified in the stereo images corresponding to surface features annotated into the preoperative surface map. Three dimensional displacements of the surface features are determined and used to constrain a computer model of deformation of the organ. In embodiments, the model of deformation is adapted or constrained to model locations and dimensions of surgical cavities using an optical flow method and/or locations of surgical instruments in the organ. The model of deformation is used to determine intraoperative locations for the lesion.