Surgical Device Positioning via Camera-Marking Calibration
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Solution Overview
Problem
In image-guided surgery, it is challenging to obtain an optimal view of a surgical device's position relative to anatomical structures due to tissue movement and the difficulty in visualizing the device's tip portion, especially in soft tissue areas, which can lead to inaccurate placement and potential tissue damage.
Innovation Solution
A computer-implemented method calculates the position of a surgical device relative to an intra-operatively imaged patient region using calibration data and image data from both the imaging device and a camera, allowing for the determination of the device's position even when it is outside the image plane or volume, and provides computer-assisted guidance for navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If intra-operative imaging is used to obtain live feedback on surgical device placement, then real-time visualization is improved, but the ability to visualize the surgical device tip and target area simultaneously deteriorates
Solution Approach 1:
A camera is introduced as an intermediary device to capture images of the surgical device and marking, which are then processed by a computing device to calculate and display the device tip position relative to the target area. This mediator system bridges the gap between the imaging device and the surgical device, enabling indirect visualization of the device tip position that cannot be directly observed in the ultrasound images.
Solution Approach 2:
The patent replaces direct mechanical/visual observation of the surgical device in the ultrasound image with a computational system. The computing device uses calibration data and image processing algorithms to calculate the device tip position, substituting the need for direct visual confirmation with a computational determination that can be displayed to the surgeon.
2Loss of information
If in-plane approach is used to guide the surgical device within the image plane, then device visualization is improved, but the flexibility of device positioning and imaging device configuration deteriorates
Solution Approach 1:
The patent transitions from two-dimensional in-plane guidance to three-dimensional spatial awareness. By using a camera to capture images of a marking on the surgical device and calculating its position in 3D space relative to the ultrasound image plane, the system provides depth information and spatial context that enables the surgeon to position the device flexibly in three dimensions while maintaining accurate position awareness.
3Measurement precision
If pre-operative image data is used for image-guided surgery, then imaging accuracy is improved, but the ability to account for tissue movement during surgery deteriorates
Solution Approach 1:
The system performs preliminary calibration by establishing the positional relationship between the camera, marking, and imaging device before the surgical procedure begins. This preliminary action creates a reference framework that remains valid throughout the surgery, allowing the system to accurately track device position even as tissues move, because the calibration data provides a stable reference that compensates for tissue displacement.
Data Source
AI summary
A computer-implemented technique for calculating a position of a surgical device relative to a patient region imaged by an imaging device is described. One of the surgical device and the imaging device has a predetermined first positional relationship to a marking, and a first camera having a field of view that includes the marking has a predetermined second positional relationship to the other device. The positional relationships may be stored as calibration data. A method realization of the technique comprises the steps of receiving, from the imaging device, intra-operatively taken first image data representative of the imaged patient region, receiving, from the first camera, intra-operatively taken second image data representative of the marking, and intra-operatively calculating, based on the first and second image data and the calibration data, the position of at least a part of the surgical device relative to the imaged patient region.