Machine Vision Electrode Implantation for Brain Vessel Avoidance
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Solution Overview
Problem
The challenge in neurosurgery robot-assisted electrode implantation on the brain surface involves accurately recognizing blood vessels, determining implantation positions, and controlling the implantation tool's angle and position due to complex brain surface topography and varying illumination conditions, which current algorithms and imaging systems struggle to address effectively.
Innovation Solution
A machine vision-based system using two cameras with vascular segmentation algorithms and real-time control mechanisms to identify implantable areas, plan electrode sequences, and predict landing points, ensuring accurate and stable electrode implantation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic arm or external stepper motor is used to move above the small brain surface window, then the implantation tool can reach the target area, but the accuracy of identifying implantable sites and avoiding blood vessels deteriorates due to the limited viewing area and complex vascular distribution
Solution Approach 1:
The patent divides the brain surface imaging task into multiple channels (first imaging channel and second imaging channel) with different functions. The first channel captures overall brain surface images for vascular area identification, while the second channel provides stereoscopic microscopic imaging for precise tool positioning. This segmentation allows each channel to be optimized for its specific function, improving overall measurement precision without requiring a single overly complex system.
Solution Approach 2:
The patent introduces a coordinate transformation system as an intermediary between the imaging system and the robotic manipulation system. The transformation matrix converts coordinates from the image space to the robotic tool space, enabling accurate mapping of identified implantation sites to the actual brain surface positions. This intermediary layer decouples the imaging and manipulation systems, allowing independent optimization while maintaining high precision.
2Ease of operation
If the implantation tool is not completely vertical or the brain surface fluctuates, then the implantation process becomes more flexible, but the precision of controlling implantation angle and position deteriorates
Solution Approach 1:
The patent implements real-time feedback control by continuously monitoring the implantation tool's position and angle through the second imaging channel, comparing it with the planned trajectory, and making real-time adjustments. The system calculates the deviation between the actual tool position and the predicted landing point, then adjusts the tool's movement to compensate for brain surface fluctuations and positioning errors, maintaining high precision while allowing operational flexibility.
Solution Approach 2:
The patent transitions from two-dimensional image coordinates to three-dimensional spatial coordinates through stereoscopic imaging and coordinate transformation. By establishing a three-dimensional coordinate system that accounts for depth, angle, and position, the system can precisely control the implantation tool in three-dimensional space while maintaining flexibility in adjusting the implantation angle and position according to actual brain surface conditions.
3Area of stationary object
If multiple implantation sites are required, then the electrode implantation covers more areas, but the risk of electrode pulling and arrangement conflicts increases due to limited electrode length
Solution Approach 1:
The patent performs preliminary planning of the implantation sequence before actual electrode implantation. The system identifies all target implantation sites in advance, calculates the optimal implantation sequence based on electrode length constraints and spatial relationships, and determines the path to avoid pulling on previously implanted electrodes. This preliminary action ensures that multiple implantation sites can be covered while maintaining reliability by preventing electrode conflicts.
Solution Approach 2:
The patent dynamically adjusts implantation parameters including the order of implantation sites, the angle of approach, and the depth of insertion based on the spatial relationships between multiple target sites and the electrode's physical constraints. By changing these parameters according to the specific configuration of implantation sites, the system maximizes coverage area while maintaining electrode integrity and avoiding pulling or arrangement conflicts.
Data Source
AI summary
The present disclosure relates to a machine vision based electrode implantation method and system. The method includes: performing arithmetic processing on a first image captured by a first camera and a second image captured by a second camera for a brain surface, wherein, a vascular area mask of the brain surface is obtained to determine an implantable area in a brain surface image; selecting at least one implantation position in the implantable area, so as to determine an implantation sequence of the electrodes; matching the imaging of the first camera and the second camera to obtain a transformation matrix, and determining an intersection point based on the imaging of the first camera and the second camera as a predicted landing point of the an implantation apparatus.