3D Registration of Surgical Objects in 2D X-Ray Images
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Solution Overview
Problem
Current computer-assisted surgery techniques lack a reliable method for accurately determining the 3D position and orientation of objects, such as implants and tools, in real-time during minimally invasive surgeries, particularly for long bones, due to challenges in interpreting X-ray images and registering moving objects without reference bodies or trackers.
Innovation Solution
A system and method that utilize X-ray images to determine the 3D position and orientation of objects by processing X-ray images, using a software program to localize objects and tools based on prior information and image registration techniques, allowing for near-real-time registration of moving objects without the need for reference bodies or trackers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If computer-assisted surgery techniques are used to determine 3D position and orientation of objects, then measurement precision is improved, but device complexity increases due to requirement of reference bodies and trackers
Solution Approach 1:
The patent extracts and removes the complex reference bodies and trackers from the system, achieving 3D registration using only the objects themselves (implants, tools, bones) visible in X-ray images. This eliminates the need for additional tracking infrastructure while maintaining measurement precision through direct image processing and geometric modeling.
Solution Approach 2:
The system makes the surgical objects self-descriptive by using their own geometric features and X-ray projections for registration. The implants and tools serve as their own reference markers, eliminating the need for external tracking systems. The objects' inherent geometry and radiographic appearance provide sufficient information for 3D localization.
2Reliability
If reference bodies or trackers are used for object registration, then reliability of 3D positioning is improved, but ease of operation deteriorates due to invasive requirements
Solution Approach 1:
The patent removes invasive reference bodies and trackers from the surgical field, achieving reliable 3D positioning through non-invasive X-ray image processing. The system uses only the naturally present surgical objects and patient anatomy, eliminating the need for additional invasive components.
Solution Approach 2:
The surgical objects and patient anatomy serve as their own registration references without requiring external tracking devices. The system extracts geometric and radiographic features directly from the objects themselves, making the registration process intrinsic rather than extrinsic.
3Ease of operation
If traditional X-ray image interpretation methods are used, then ease of operation is maintained, but measurement precision deteriorates due to inability to accurately determine 3D positions
Solution Approach 1:
The patent replaces manual mechanical measurement methods with automated computational image processing. The system uses software-based 3D reconstruction and registration algorithms to automatically determine precise positions and orientations from 2D X-ray images, eliminating the imprecision of manual interpretation while maintaining operational simplicity.
Solution Approach 2:
The system transforms 2D X-ray projection images into 3D spatial information through computational reconstruction. By mathematically back-projecting the 2D image data and integrating multiple views, the system recovers three-dimensional positions and orientations that are not directly visible in the flat radiographic images.
4Productivity
If real-time 3D registration of moving objects is achieved, then productivity is improved through near-real-time feedback, but device complexity increases due to continuous processing requirements
Solution Approach 1:
The system performs preliminary 3D modeling and feature extraction from initial X-ray images, establishing a reference framework before surgery begins. This pre-computed geometric model enables rapid registration of subsequent images without requiring complex real-time processing of all image features, reducing computational complexity during the surgical procedure.
Solution Approach 2:
The system focuses computational resources on processing only the critical geometric features and regions of interest in each X-ray image, rather than analyzing the entire image in full detail. This selective processing approach achieves sufficient 3D registration accuracy with reduced computational complexity and faster processing times.
Data Source
AI summary
Systems and methods are provided for a continual automatic registration of bone or bone-fragments, instruments, and implants based on only one additional X-ray without the need of changing the position of the X-ray source. A two-dimensional X-ray image is received, which X-ray image shows a surgical region of interest. Artificial intelligence assisted automatic detection and localization of objects such as bone or bone-fragments, tools (e.g., a drill) and/or implants combined with a priori information about the surgical procedure are used to compute their relative three-dimensional positions and orientations at any desired point in time. This registration of the objects can be repeated multiple times and can thus provide guidance in near real time.