Method of locating a mobile perception device intended to be worn or carried by a user in a surgical scene
Inventors
AGUSTINOS, Anthony • Contreras, Luis • Leroy, Alix
Assignees
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Publication Number
US-12114937-B2
Publication Date
2024-10-15
Expiration Date
Abstract
The method of locating at least one mobile perception device of a navigation platform, the mobile perception device intended to be worn or carried by a user in a surgical scene, the navigation platform including at least one perception sensor, comprises: —acquiring, by the at least one perception sensor, a plurality of successive images of the scene including the portion of the body of the patient intended to be subjected to the surgical operation; —processing the plurality of successive images to evaluate a relative position of the mobile perception device and the portion of the body intended to be subjected to the surgical operation, wherein the relative position of the mobile perception device and the portion of the body takes into account a movement of the mobile perception device.
Core Innovation
The invention is directed to a surgical navigation method and a navigation platform using a wearable mobile perception device that includes at least one perception sensor. The method acquires a plurality of successive images of a surgical scene including a portion of the patient’s body intended to be subjected to the surgical operation, and processes the successive images to evaluate an evolution in time of a relative position, including a relative pose, between the mobile perception device and the portion of the body intended to be subjected to the surgical operation.
The core processing explicitly accounts for movement of the mobile perception device when evaluating the evolution in time of the relative position between the device and the patient body portion. The described navigation context includes knee prosthesis surgery with estimation involving a femoral mechanical axis and a pivot center and a hip center.
The described implementation includes options for handling motion without relying on a fixed perception device, including an approach using an additional fixed reference marker and an approach without fixed references by estimating device motion relative to its initial position via visual inertial odometry and/or SLAM. The SLAM-related components mentioned include localization, loop closing, and bundle adjustment, and the concept is described as feasible on low-cost monocular platforms such as augmented reality glasses and smartphone/tablet, including sensor fusion with IMU.
Claims Coverage
The document includes three independent claims, covering a method, a navigation platform, and a non-transitory computer-readable storage medium. Each is centered on acquiring successive images in a surgical scene and processing them to evaluate a time-evolution of a relative position between a wearable mobile perception device and the patient body portion while taking into account movement of the mobile perception device.
Successive image acquisition in a wearable surgical scene
A mobile perception device adapted to be worn by a user in a surgical scene, including at least one perception sensor, acquires a plurality of successive images of the scene including the portion of the body of the patient intended to be subjected to the surgical operation.
Time-evolution of relative position between device and body
The plurality of successive images are processed to evaluate an evolution in time of a relative position of the mobile perception device and the portion of the body intended to be subjected to the surgical operation.
Accounting for movement of the mobile perception device
The evaluation of the evolution in time of the relative position takes into account a movement of the mobile perception device.
Navigation platform adapted to implement image acquisition and motion-aware relative positioning
A navigation platform comprising at least one mobile perception device adapted to be worn by a user in a surgical scene includes at least one perception sensor and is adapted to acquire successive images and process them to evaluate evolution in time of relative position while taking into account movement of the mobile perception device.
Program for navigation instructions implementing motion-aware relative positioning
A non-transitory computer-readable data storage medium storing program comprising navigation instructions, which when run implement acquiring successive images and processing them to evaluate evolution in time of relative position between the mobile perception device and the patient body portion, wherein the evaluation accounts for movement of the mobile perception device.
Across all independent claims, the coverage centers on a wearable mobile perception device with perception sensors that acquires successive images in a surgical scene and processes the images to evaluate a time-evolution of a relative position between the device and the target body portion, explicitly accounting for movement of the mobile perception device.
Stated Advantages
Enables evaluating the evolution in time of the relative position while the mobile perception device is moving.
Eliminates the fixed perception device assumption by explicitly accounting for device motion.
Reduces the need for fixed markers, as described by an approach without fixed references.
Feasibility is described on low-cost monocular platforms, including augmented reality glasses and smartphone/tablet.
Documented Applications
Navigation for knee prosthesis surgery, including estimation related to a femoral mechanical axis and anatomical references such as a pivot center and a hip center.
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