Stereoscopic Optical Tracking Sensor for 3D Surgical Navigation
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Solution Overview
Problem
Current computer-assisted systems for guiding surgical/diagnostic instruments lack the capability to perform scanning functions for detecting three-dimensional profiles, which limits their effectiveness in providing precise navigation during minimally invasive procedures.
Innovation Solution
An optical tracking sensor system using infrared markers and a stereoscopic viewing system with a motorized pivot device, allowing for real-time tracking and scanning of the surgical instrument's position and the patient's anatomy, enabling accurate three-dimensional profiling and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a basic optical tracking sensor is used for real-time instrument position tracking, then navigation capability is provided, but the system cannot perform scanning functions for detecting three-dimensional profiles
Solution Approach 1:
The optical sensor is designed to perform multiple functions: both real-time tracking of the surgical instrument through marker detection and scanning of the patient's body surface to create three-dimensional profiles. By integrating both tracking and scanning capabilities into a single sensor system, the patent achieves multi-functionality that resolves the contradiction between versatility and complexity.
Solution Approach 2:
The patent combines the tracking function (using video cameras to locate markers) and the scanning function (using the same cameras to detect body surface contours) into a unified optical sensor system. This merging allows the system to acquire both instrument position data and anatomical surface data through the same hardware platform.
2Measurement precision
If multiple video cameras are used for stereoscopic viewing and three-dimensional detection, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent transitions from two-dimensional camera images to three-dimensional spatial information by using stereoscopic vision with multiple cameras positioned at different locations. The processing unit calculates three-dimensional coordinates of markers and body surface points by triangulating their positions from multiple camera viewpoints, thereby achieving precise 3D measurement.
Solution Approach 2:
The patent introduces a processing unit as an intermediary that receives two-dimensional image data from multiple cameras and computes three-dimensional position information. This intermediary component handles the complex computational geometry required for stereoscopic reconstruction, separating the optical capture function from the 3D calculation function.
3Measurement precision
If real-time tracking of surgical instruments is implemented using markers and optical sensors, then navigation accuracy is improved, but the system requires complex coordination between multiple components
Solution Approach 1:
The system continuously tracks the position of surgical instruments by detecting markers with optical cameras and provides real-time feedback through the display unit. The processing unit calculates instrument positions relative to the patient's anatomy and updates the visual representation dynamically, allowing the surgeon to see the instrument's location in the three-dimensional model during the procedure.
Solution Approach 2:
The patent creates a virtual three-dimensional copy of the patient's anatomy based on scanned body surface data and integrates it with internal organ models from CT or MR images. The surgical instrument is also represented as a virtual model that is superimposed on this three-dimensional reconstruction, allowing the surgeon to navigate using a simplified visual interface rather than directly interpreting complex sensor data.
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 precise and user-friendly navigation of surgical instruments within the body, minimizing invasiveness and avoiding vital organs by providing real-time three-dimensional models and trajectories, thus enhancing the accuracy and safety of surgical operations.
Implementation Method 1
an optical tracking sensor (20) produced according to the present invention and detailed below; in particular, an infrared sensor configured to cooperate with the instrumental station (1)
Implementation Method 2
A three-dimensional representation of the surgical/diagnostic instrument is superimposed on the three-dimensional reconstruction and moved on the image following the real movements of the instrument
Data Source
Figure 1
Figure 2
Figure 3~4
AI summary
Computer-assisted system for guiding a surgical/diagnostic instrument (27) in the body of a patient wherein a tracking sensor (20) comprises a pair of video cameras/illuminators adapted to acquire the image of a patient (P) on which a surgical/diagnostic operation is being performed by means of an instrument sensed by means of a marker visible by the sensor. The tracking sensor is movable under the thrust of actuators according to a first horizontal tilt axis and a second horizontal pan axis perpendicular to the first to perform a scanning operation of an area of the human body.