Surgical Image Registration via Reference Markings and Trackers
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Solution Overview
Problem
Current image registration techniques for surgical navigation are time-consuming and imprecise, often requiring the attachment of trackers to imaging devices and fiducials to patients, which complicates the process and limits the flexibility of the imaging device during surgical operations.
Innovation Solution
A method for registering image data that does not necessitate the mounting of trackers on imaging devices or the attachment of fiducials to objects, using a registration device with reference markings and a tracker that defines a known spatial relationship, allowing for independent placement and temporary use during imaging procedures, enabling the calculation of the object's location and orientation without the need for invasive attachments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If trackers are mounted on imaging devices and fiducials are attached to patients, then image registration can be performed, but the process becomes time-consuming and complex
Solution Approach 1:
The patent applies preliminary action by pre-defining the spatial relationship between the imaging device and reference markings through manufacturing or setup before the actual surgical procedure. The imaging device is designed with integrated reference markings or pre-calibrated tracker positions, so that when imaging is performed, the registration data is already available in advance, eliminating the need for time-consuming manual registration during surgery.
Solution Approach 2:
The patent uses an intermediary approach by introducing a coordinate transformation system that mathematically links the imaging device coordinate system with the patient anatomy coordinate system. Instead of physically attaching trackers and fiducials, the system uses pre-established transformation matrices and reference markings visible in both the imaging device and navigation system to mediate the registration process automatically.
2Measurement precision
If trackers are mounted on imaging devices, then image registration is possible, but the device complexity increases
Solution Approach 1:
The patent applies merging by integrating the reference markings directly into the imaging device structure or combining the tracker functionality with existing imaging device components. Instead of adding separate, complex tracker systems, the reference markings are incorporated into the imaging device's inherent structure, such as using the imaging device's own mechanical components or adding simple visual markers that are already part of the imaging field.
Solution Approach 2:
The patent applies universality by designing the reference markings and coordinate system to serve multiple functions simultaneously. The same reference markings used for image registration are also used for spatial localization, orientation determination, and navigation guidance throughout the surgical procedure. This multi-functionality eliminates the need for separate specialized components, reducing overall device complexity while maintaining registration accuracy.
Data Source
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AI summary
A technique of registering image data of an object 112 with at least one of a location and an orientation of the object 112 is provided. A method embodiment of this technique comprises the step of providing three-dimensional image data generated for the object 112, the image data being representative of at least a portion of the object 112 and of reference markings 130 associated with the object 112. The reference markings 130 have a known spatial relationship with a registration tracker 122 adapted to be tracked by a navigation system 100. The method further comprises providing registration tracking data representative of at least one of a spatial location and a spatial orientation of the registration tracker 122 and providing object tracking data representative of at least one of a spatial location and a spatial orientation of an object tracker adapted to be tracked by the navigation system. The object tracker 124 has a fixed spatial relationship with the object 112. In a next step, the method calculates from the registration tracking data and the object tracking data for a given point in time the relative position between the registration tracker 122 and the object tracker 124. Than, registered image data is generated representative of at least one of the location and the orientation of the object 112 taking into account the spatial relationship between the reference markings 130 and the registration tracker 122 on the one hand and the relative position between the registration tracker 122 and the object tracker 124 on the other.