3D Navigation for Musculoskeletal Surgery via Single X-Ray
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional navigation systems in spinal surgery are error-prone due to the need for additional procedural steps and apparatuses like 3D cameras and trackers, which can lead to inaccurate registration and decreased accuracy with distance, limiting the reliability of robotic surgeons in autonomous procedures.
Innovation Solution
A system and method that determines the 3D spatial relation of surgical objects relative to patient anatomy using a single X-ray image and a 3D data set, eliminating the need for reference bodies and trackers, by identifying an anchor point and determining its 3D position and orientation within a defined coordinate system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional navigation systems use optical tracking with reference bodies and trackers, then navigation information can be provided in real-time, but the system becomes error-prone due to registration errors and tracker movements
Solution Approach 1:
The patent removes reference bodies and trackers from the surgical site, extracting the problematic components that cause registration errors and navigation inaccuracies. The system achieves navigation by processing only the surgical tool and patient anatomy visible in X-ray images, eliminating the need for external tracking apparatuses that compromise reliability.
Solution Approach 2:
The system creates a virtual copy of the patient's anatomy and surgical tools through image processing of X-ray data. This digital model is then used for navigation purposes, replacing the need for physical reference bodies and trackers. The virtual model allows accurate spatial relationship determination without external apparatuses that introduce errors.
2Measurement precision
If reference bodies are attached to surgical tools and anatomy, then 3D position and orientation can be tracked, but accuracy decreases with increasing distance from the camera
Solution Approach 1:
The patent replaces the optical-mechanical tracking system with an X-ray-based imaging and processing system. Instead of using cameras to visually track reference bodies, the system uses X-ray images to capture spatial information and determines 3D positions through image processing algorithms, eliminating the distance-dependent accuracy degradation inherent in optical systems.
3Loss of information
If multiple procedural steps and apparatuses are used for navigation, then comprehensive navigation information can be obtained, but the workflow becomes complex and time-consuming
Solution Approach 1:
The patent merges multiple navigation functions into a single integrated system that processes X-ray images to simultaneously determine the position and orientation of surgical tools relative to patient anatomy. This consolidation eliminates the need for separate registration, calibration, and tracking procedures, reducing both workflow complexity and procedural time while maintaining complete navigation information.
4Extent of automation
If external tracking systems are used, then real-time navigation guidance can be provided, but the system requires continuous validation and monitoring which reduces automation capability
Solution Approach 1:
The system performs self-validation by continuously processing X-ray images to determine the position and orientation of surgical tools. The image processing system automatically validates navigation information without requiring external monitoring or manual verification, enabling autonomous operation while maintaining high reliability through built-in verification mechanisms.
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 provides a more accurate and reliable determination of surgical object positions and orientations, enhancing the safety and precision of spinal surgery and potentially enabling autonomous robotic surgery by reducing reliance on external tracking systems.
Implementation Method 1
receiving a 2D X-ray image generated by an X-ray imaging device, the 2D X-ray image being a projection image
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A computer program product is provided including instructions which, when executed on a processing unit of a system, cause the system to receive one X-ray image, a 3D data set describing a region of interest within a patient's anatomy, and a 3D model of the surgical object. The X-ray image is a 2D projection image depicting at least part of a surgical object including an anchor point as well as the region of interest. The computer program product is configured to determine a 2D position of the anchor point in the X-ray image and an imaging direction onto the region of interest based on the X-ray image. Based on this information, a 3D position of the anchor point in a 3D coordinate system defined by the 3D data set is determined. Further, a 3D position and 3D orientation of the surgical object relative to the region of interest is determined by means of the computer program product based on the 3D model of the surgical object and the 3D position of the anchor point in the 3D coordinate system.