Automated Surgical Camera Stabilization via Optical Tracking
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Solution Overview
Problem
Intracranial surgical procedures face challenges due to incompatibility of existing optical imaging devices, including poor imaging sensor field of view, magnification, alignment issues, glare, and fluid interference, which hinder effective port-based navigation and imaging stabilization during minimally invasive brain surgeries.
Innovation Solution
A medical navigation system comprising a computing device, a tracking camera, and an automated arm assembly with a surgical camera, controlled by the computing device to maintain the surgical site within the camera's field of view, using tracking markers to determine the medical device's position and pose, allowing for precise alignment and stabilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a camera is manually aligned to image the access port, then the field of view can be adjusted, but the alignment is susceptible to misalignment by being knocked, agitated, or inadvertently moved by personnel
Solution Approach 1:
The patent replaces manual mechanical alignment with an automated optical tracking system. The camera is mounted on a robotic arm that uses optical tracking markers to automatically calculate and maintain precise alignment with the access port, eliminating the instability caused by manual handling while preserving the ability to adjust field of view through automated control.
Solution Approach 2:
The system enables self-alignment through automated feedback control. The optical tracking system continuously monitors the access port position and automatically adjusts the camera orientation to maintain optimal viewing angle, allowing the system to self-correct any displacement without external intervention.
2Productivity
If optical imaging devices are used for port-based procedures, then imaging can be performed, but the imaging is impaired by poor field of view, magnification, alignment issues, glare, and fluid interference
Solution Approach 1:
The patent implements a dynamic positioning system where the camera is mounted on a multi-degree-of-freedom robotic arm that can continuously adjust its position and orientation. This dynamic capability allows the system to optimize field of view and magnification in real-time based on the surgical procedure stage, while maintaining precise alignment through automated optical tracking that compensates for movement and eliminates glare issues.
3Adaptability or versatility
If the access port is manipulated intraoperatively to access many areas within the brain, then surgical flexibility is improved, but tracking the spatial position and pose of the access port becomes difficult and challenging
Solution Approach 1:
The patent implements a closed-loop feedback system using optical tracking markers attached to the access port. The tracking camera continuously monitors the markers' position and orientation, providing real-time feedback to the control system. This allows the system to automatically update the camera's targeting coordinates whenever the access port is repositioned during surgery, maintaining accurate tracking throughout the procedure despite frequent manipulations.
Data Source
AI summary
A medical navigation system is provided, comprising a computing device having a processor coupled to a memory, a tracking camera for tracking medical devices, and a display for displaying an image; an automated arm assembly electrically coupled to be computing device and controlled by a signal provided by the computing device, the automated arm assembly including a multi-joint arm having a distal end connectable to an effector that supports a surgical camera electrically coupled to the computing device; and a medical device having a tracking marker attachable to the medical device. The computing device is configured to position the automated arm assembly, based on an input command, in response to a position in space of the medical device such that a surgical site of interest remains within a field of view of the surgical camera, the position in space of the medical device determined by the computing device based on a signal provided to the computing device by the tracking camera; and display on the display an image provided by an image signal generated by the surgical camera.