Surgical Tool Tracking via Dual-Modal Biocompatible Markers
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Solution Overview
Problem
Current medical imaging systems for endoscopic surgery are cumbersome and lack real-time visualization capabilities, particularly in visualizing surgical tools within body cavities, due to reliance on preoperative images that may not account for morphological changes during the procedure and require complex processing of endoscopic and ultrasound data.
Innovation Solution
An imaging system that uses biocompatible markers visible to both endoscopic and ultrasound cameras, combined with a processing device for real-time image merging and a robot for controlled camera movement, allowing for precise triangulation and near-real-time visualization of surgical tools within the body cavity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If preoperative images are used to segment and highlight organs of interest, then visualization of organs is improved, but the system becomes cumbersome to implement and reliability decreases due to morphological changes between data acquisition and intervention
Solution Approach 1:
The patent applies preliminary action by placing markers on organs during preoperative imaging, so that when intraoperative imaging occurs, the markers are already in position to enable automatic registration without complex real-time processing. This resolves the contradiction by preparing the registration framework in advance, reducing both implementation complexity and improving reliability through consistent marker positions.
Solution Approach 2:
The patent introduces markers as an intermediary element that bridges preoperative and intraoperative imaging systems. These markers serve as common reference points that both imaging modalities can detect, enabling reliable registration without complex transformation algorithms. This intermediary approach resolves the technical contradiction by simplifying the registration process while maintaining reliability.
2Speed
If ultrasound transducers are placed on surgical tools to enable detection by ultrasound imaging device, then real-time visualization of tool position is improved, but processing complexity increases and real-time visualization cannot be achieved
Solution Approach 1:
The patent merges endoscopic and ultrasound imaging systems into a unified registration framework using common markers. By combining the detection of markers by both imaging modalities and performing registration based on marker positions, the system achieves real-time visualization without excessive processing complexity. This merging approach resolves the contradiction by creating an integrated system that processes both data streams efficiently.
Solution Approach 2:
The patent uses markers that create corresponding detectable signals in both endoscopic and ultrasound images. These marker copies serve as reference points that allow the system to register images from different modalities without complex processing. The copying principle resolves the technical contradiction by providing simple, detectable reference points that enable real-time registration.
3Measurement precision
If optical locator is placed outside patient to enable triangulation for registering endoscopic and ultrasound images, then image registration is improved, but the system becomes bulky and cannot be implemented in all operating conditions
Solution Approach 1:
The patent nests the registration functionality within the imaging systems themselves by using markers that are detected by both endoscopic and ultrasound cameras. Instead of requiring an external optical locator, the registration capability is nested within the existing imaging devices through their ability to detect common markers. This nested approach resolves the contradiction by eliminating bulky external equipment while maintaining registration precision.
Solution Approach 2:
The patent makes the markers universal by designing them to be detectable by multiple imaging modalities (endoscopic camera, ultrasound imaging device). This multi-functionality eliminates the need for modality-specific registration equipment like external optical locators. The universal markers resolve the technical contradiction by providing a single solution that works across different imaging systems without adding bulk.
4Loss of information
If complex processing of endoscopic and ultrasound information is performed to merge images, then enriched visualization is improved, but real-time visualization cannot be achieved due to processing time
Solution Approach 1:
The patent performs preliminary action by establishing the registration framework based on marker positions before full image processing occurs. By pre-processing the registration transformation using detected marker positions, the system reduces the computational burden during real-time operation. This preliminary registration step resolves the contradiction by separating the complex registration calculation from real-time image merging, enabling both complete information visualization and real-time performance.
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
Enables real-time or near-real-time visualization of surgical tools and organs, reducing processing complexity and improving surgical precision by integrating endoscopic and ultrasound information effectively.
Implementation Method 1
the markers are formed of a biocompatible substance comprising a dye allowing the marker to be recognized by the endoscopic camera
Implementation Method 2
the markers are formed of a biocompatible substance comprising a contrast product recognized by the ultrasound imaging device
Implementation Method 3
the processing device comprises means for merging the endoscopic information and the ultrasound information from the mapping and for obtaining a representation of the operating field from the merged information
Data Source
Figure 1
Figure 2~3
AI summary
The invention relates to an imaging system for following at least one surgical tool (5, 6) in an operation field inside a space (1) in the body of an animal, that comprises: at least one endoscopic camera (9) for obtaining endoscopic information of the operation field; at least one ultrasound imaging device (12) for obtaining ultrasound information on the operation field; an endoscopic and ultrasound information processing device (13), characterised in that it further comprises at least three markers (15, 16, 17) to be positioned in the operation field, said markers (15, 16, 17) being mobile relative to the tool (5, 6), and each marker being adapted to be captured both by the endoscopic camera (9) and the ultrasound imaging device (12) so that the processing means (13) can match the endoscopic information and the ultrasound information.