Surgical Navigation Obstacle Detection Using Depth Map Discrepancy
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Solution Overview
Problem
Surgical navigation systems face challenges in accurately tracking flexible anatomical structures and managing a cluttered surgical workspace due to the use of trackers, which increase cost and complexity.
Innovation Solution
A navigation system that combines tracker-based localization with machine vision to generate depth maps, allowing for the identification of obstacles and adjusting surgical plans to avoid collisions, using a localizer and vision device to create an expected depth map for comparison with actual maps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If trackers are attached to each object adjacent the target volume, then tracking accuracy is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts the tracking function from physical trackers and implements it through vision-based detection. The system removes the need for attaching trackers to each object by using a vision device to capture images and identify objects based on their visual characteristics, thereby reducing system complexity while maintaining tracking capability
Solution Approach 2:
The patent creates a virtual model that copies the physical surgical environment, including objects and their positions. This virtual representation allows the system to track and monitor objects without requiring physical trackers, as the vision device captures and processes visual information to maintain an accurate digital replica of the surgical field
2Measurement precision
If trackers are attached to each object adjacent the target volume, then tracking accuracy is improved, but the surgical workspace becomes congested
Solution Approach 1:
The patent removes physical trackers from the surgical workspace by replacing them with a vision-based detection system. The vision device captures images of the entire workspace, allowing the system to identify and track multiple objects simultaneously without adding physical components that would clutter the surgical field
Solution Approach 2:
The vision device serves multiple functions: it captures images of the surgical workspace, identifies multiple objects simultaneously, determines their positions, and provides this information to the control circuit. This single device replaces what would otherwise require multiple trackers, reducing workspace clutter while maintaining comprehensive tracking capability
3Manufacturing precision
If a robotic manipulator is used to move surgical tools, then surgical precision is improved, but the risk of collision with obstacles increases
Solution Approach 1:
The patent implements a feedback mechanism where the vision device continuously monitors the surgical workspace and identifies obstacles in real-time. The control circuit receives this information and uses it to adjust the robotic manipulator's trajectory, providing continuous feedback to prevent collisions while maintaining surgical precision
Solution Approach 2:
The system performs preliminary identification of obstacles before the robotic manipulator reaches them. By detecting and mapping obstacles in advance using the vision device, the control circuit can plan collision-free trajectories and adjust the manipulator's path proactively, preventing collisions before they occur
Data Source
AI summary
Surgical systems and methods to account for an obstacle at a surgical site. A localizer tracks the surgical site using a first tracking modality and a vision device tracks the surgical site using a second tracking modality different from the first tracking modality. Controller(s) determine, based on tracking data from the localizer, a first positional relationship between the localizer and the surgical site. The controller(s) determine, based on tracking data from the vision device, a second positional relationship between the vision device and the surgical site. The controller(s) compare the first and second positional relationships to identify a discrepancy wherein the second positional relationship fails to match the first positional relationship. The controller(s) evaluate the discrepancy to identify an object presents an obstacle at the surgical site and generate a response to account for the obstacle.