Vision-Based Anatomical Feature Tracking for Scope Positioning
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Solution Overview
Problem
Improper positioning or advancement of medical scope and percutaneous access instruments can lead to physiological and procedural complications during medical procedures.
Innovation Solution
A robotic system with a robotic manipulator and control circuitry that uses image processing to detect and track anatomical features, providing a graphical interface for precise localization and guidance during medical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual positioning methods are used for scope and instruments, then device complexity is reduced, but positioning precision deteriorates leading to physiological and procedural complications
Solution Approach 1:
The patent replaces manual mechanical positioning with an automated vision-based system. Control circuitry receives images from a camera, detects anatomical features, and automatically determines positions of the scope and instruments relative to anatomical landmarks, eliminating the need for complex manual alignment procedures while achieving precise positioning.
Solution Approach 2:
The patent introduces an intermediary vision-based localization system between the surgical instruments and the anatomical targets. This intermediary system uses camera imaging and automated feature detection to establish accurate spatial relationships, serving as a mediator that enables precise positioning without direct manual manipulation.
2Reliability
If automated vision-based localization is implemented, then positioning precision is improved, but device complexity increases due to additional control circuitry and imaging systems
Solution Approach 1:
The patent makes the control circuitry multi-functional by having it perform multiple tasks: receiving images from the camera, detecting anatomical features, determining positions of scope and instruments, and providing guidance information. This consolidation of functions into a single control system reduces overall system complexity despite the added capabilities.
Solution Approach 2:
The vision-based localization system is self-service in that it automatically processes images, detects features, and provides positioning information without requiring continuous manual intervention. The system serves itself by using the camera and control circuitry to autonomously establish and maintain accurate positioning throughout the procedure.
3Measurement precision
If real-time tracking of anatomical features is performed, then measurement precision is improved, but processing time and computational resources increase
Solution Approach 1:
The patent performs preliminary action by pre-identifying and marking anatomical features in the initial image, then maintaining this identification throughout the procedure. The system establishes the reference framework for anatomical landmarks beforehand, allowing for rapid updates without re-processing the entire image sequence, thus reducing processing time while maintaining precision.
Data Source
AI summary
A robotic system includes a robotic manipulator configured to manipulate an endoscope having a camera associated therewith and control circuitry configured communicatively coupled to the robotic manipulator. The control circuitry can be configured to receive an image depicting a field-of-view (FOV) of the camera associated with the instrument, detect an anatomical feature in the image, display a graphical interface that includes the image and a visual overlay indicating a location of the anatomical feature in the image, and track the anatomical feature based at least in part on determining that the anatomical feature is a target anatomical feature.