Surgical Tool Tracking Using Marker Frame for 3D Localization
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Solution Overview
Problem
Current surgical procedures, such as epidural epiduroscopy, face challenges with invasive methods and prolonged exposure to X-rays due to the reliance on two-dimensional X-ray images for catheter insertion, which can damage surrounding tissues and require multiple X-ray directions, limiting precision and increasing radiation exposure.
Innovation Solution
An apparatus and method for tracking the three-dimensional location of a surgical tool using a physical marker frame with multiple marker bands, allowing estimation of the tool's location from a single X-ray image, reducing radiation exposure and improving accuracy and invasiveness by generating a three-dimensional model of the surgical tool for display.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple X-ray images are taken from different directions to accurately locate the catheter, then the precision of catheter location is improved, but the radiation exposure to patient and doctor increases
Solution Approach 1:
The patent transitions from two-dimensional X-ray imaging to three-dimensional location tracking by attaching a marker frame with multiple marker bands to the catheter. The information processor calculates three-dimensional coordinates (x, y, z) of the catheter tip by detecting the two-dimensional positions of marker bands in the X-ray image and using the known three-dimensional structure of the marker frame, enabling accurate spatial localization from a single image plane.
Solution Approach 2:
The marker frame attached to the catheter serves as an intermediary object that bridges the gap between the catheter and the X-ray imaging system. The marker bands on the frame provide detectable features in the X-ray image that allow the information processor to infer the catheter's three-dimensional position without requiring multiple X-ray images, thus reducing radiation exposure while maintaining precision.
2Measurement precision
If a rigid endoscope is used for surgical operation, then the location tracking can be implemented, but the operating angle at the front end is limited
Solution Approach 1:
The patent employs a flexible catheter instead of a rigid endoscope, allowing the catheter to be bent and positioned at various angles within the surgical site. The marker frame attached to the flexible catheter maintains its rigid structure for accurate tracking while the catheter itself can adapt to different anatomical configurations, providing both location tracking capability and operational flexibility.
3Ease of operation
If anatomical knowledge from medical images is used to insert the catheter, then the surgical procedure can be performed, but surrounding tissues such as blood vessels and nerves may be damaged
Solution Approach 1:
The system provides real-time feedback by continuously tracking the three-dimensional position of the catheter tip during insertion using the marker frame and X-ray imaging. The information processor calculates the catheter's location and can display this information to the surgeon, enabling visual guidance and feedback to prevent damage to surrounding tissues such as blood vessels and nerves during catheter insertion.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach reduces radiation exposure and enhances the precision and dexterity of surgical procedures by allowing accurate three-dimensional tracking of surgical tools within the surgical site using a single X-ray image, improving the non-invasive nature of the procedure.
Implementation Method 1
a photography system for photographing a surgical tool having a physical marker frame
Data Source
AI summary
Embodiments relate to a method for tracking a location of a surgical tool based on a radiographic image, which includes: by a photography system, photographing a surgical tool having a physical marker frame composed of three or more marker bands; by an information processor, detecting a center point of each marker band in the photographed image; and by the information processor, estimating a three-dimensional location of the surgical tool based on a distance between the detected center point and a center point of a true marker band, and a tracking apparatus for the same.