Surgical Registration Using Outer Surface and Intracorporeal Reference
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Solution Overview
Problem
Current surgical navigation systems face inaccuracies due to tissue displacement during surgery, leading to potential tissue damage and increased surgery duration and cost, as existing methods for registration and correction are either inaccurate, complex, or require additional equipment and time.
Innovation Solution
A two-step registration process is implemented, where the initial registration uses the patient's outer surface before surgery and a refined registration uses intracorporeal structures during surgery, utilizing a 3D capturing device to create intracorporeal images and track anatomical landmarks for precise localization, allowing for continuous accuracy improvement without the need for biomechanical models.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If preoperative 3D image data is used for navigation, then registration can be performed before surgery, but tissue displacement during surgery causes inaccuracies of one centimeter or more
Solution Approach 1:
The system performs preliminary registration before surgery using the patient's outer surface and preoperative 3D image data to establish an initial accurate registration. This preliminary action sets up the navigation system before tissue displacement occurs, allowing for subsequent refinement without starting over.
Solution Approach 2:
The system continuously monitors the surgical field and uses feedback from the 3D capturing device to detect changes in tissue position. This feedback mechanism allows the registration to be dynamically updated during surgery to compensate for tissue displacement, maintaining navigation accuracy throughout the procedure.
2Measurement precision
If intraoperative 3D imaging is performed to correct tissue displacement, then registration accuracy can be maintained, but surgery duration increases significantly and costs rise sharply
Solution Approach 1:
The system performs all necessary registration setup and initial 3D imaging before surgery begins. By completing the registration process in advance using preoperative images and outer surface scanning, the system eliminates the need for time-consuming intraoperative imaging procedures, thus reducing overall surgery duration while maintaining accuracy.
Solution Approach 2:
The registration process is segmented into two distinct phases: preoperative registration using outer surface and preoperative 3D data, and intraoperative refinement using 3D capturing device feedback. This segmentation allows the bulk of the time-consuming registration work to be completed before surgery, with only minimal refinement needed during the actual procedure.
3Ease of manufacture
If multiple registration methods (point-to-point matching, surface matching, fiducials) are used, then registration can be performed, but all methods rely on outer surfaces that are affected by tissue displacement
Solution Approach 1:
The system introduces the patient's outer surface as an intermediary reference that remains relatively stable during surgery. By registering to the outer surface before surgery and using it as a stable reference frame, the system can compensate for internal tissue displacement without requiring direct monitoring of the displaced tissue itself.
Solution Approach 2:
The system transitions from two-dimensional surface matching to three-dimensional volumetric registration by incorporating preoperative 3D image data. This dimensional expansion allows for more comprehensive registration that accounts for tissue displacement in all three spatial dimensions, improving accuracy without relying solely on external surface markers.
Data Source
AI summary
A surgical assistance system, registration method and computer-readable storage are used in a surgical intervention. The system includes a 3D recording device that generates a three-dimensional intracorporeal recording of a patient; a tracking system that detects and tracks a surgical intervention region of the patient; a data unit that generates recorded 3D data; and a control unit that processes the intracorporeal recording, data of the tracking system, and the 3D data. The system registers the 3D data onto an outer surface of the patient as a first registration. The control unit determines a landmark and/or a surface and/or a three-dimensional volume of an intracorporeal structure as an intracorporeal reference from the intracorporeal recording and/or the 3D data and registers the 3D data on the intracorporeal structure of the patient detected as an intracorporeal recording as a second registration based on the first registration and the intracorporeal reference.