Anatomical Structure Registration via Articulated Coupling Data
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Solution Overview
Problem
Current registration methods for articulated anatomical structures in image-guided surgery are compromised when crucial landmarks cannot be reached due to patient positioning or the sterile operating field limitations, making it difficult to accurately register anatomical structures during medical procedures.
Innovation Solution
A method that utilizes data from an anatomical structure connected via an articulated joint to determine the spatial position of another anatomical structure, using correlation data and coupling data to establish alignment between coordinate systems, allowing registration even when certain landmarks are inaccessible.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional landmark palpation methods are used for registration, then direct spatial position acquisition is achieved, but registration fails when landmarks are inaccessible due to patient positioning or sterile field limitations
Solution Approach 1:
The patent introduces an intermediary anatomical structure that is articulately coupled to the target structure. Instead of directly accessing inaccessible landmarks on the target structure, the method uses accessible landmarks on the intermediary structure and transfers their spatial relationship through the articulated coupling to determine the position of the target structure. This intermediary approach bypasses the accessibility problem while maintaining registration accuracy.
Solution Approach 2:
The method creates a virtual copy or representation of the inaccessible landmark data by using the articulated coupling relationship. By measuring landmarks on the accessible intermediary structure and mathematically transforming their positions through the known coupling parameters, the system effectively copies the spatial information that would otherwise be unavailable from the target structure.
2Loss of information
If all crucial landmarks are required for registration, then complete spatial information is obtained, but the registration process becomes impossible when patient positioning blocks access to certain landmarks
Solution Approach 1:
The patent segments the registration process into two independent parts: (1) registration of the accessible intermediary structure using its own landmarks, and (2) calculation of the target structure position using the articulated coupling relationship. This segmentation allows the registration to proceed with only the accessible structure's landmarks, eliminating the requirement for all landmarks to be simultaneously accessible.
Solution Approach 2:
The method accommodates dynamic changes in patient positioning by using the articulated coupling relationship that can adapt to different joint positions. The coupling data (rotation and translation parameters) dynamically adjust based on the relative position between the intermediary and target structures, allowing registration to succeed regardless of patient positioning constraints.
3Productivity
If direct landmark palpation is performed, then registration is straightforward when landmarks are accessible, but the process becomes complex and time-consuming when alternative registration methods are needed
Solution Approach 1:
The patent creates a universal registration method that can function in multiple scenarios: when landmarks are directly accessible (using the intermediary structure anyway for consistency) and when landmarks are inaccessible (using the intermediary structure as the primary registration target). The articulated coupling framework provides a unified approach that handles both cases, eliminating the need for separate complex procedures.
Data Source
AI summary
The present invention relates to a method for registering a first anatomical structure (1) which is articulately coupled to a second anatomical structure (2), the method being constituted to be executed by a computer and comprising the steps of:acquiring second structure correlation data describing the spatial position of at least one correlation feature (3) relative to the second anatomical structure (2);acquiring coupling data describing a positional fixation (6) of the first anatomical structure (1) relative to the second anatomical structure (2), which is set by the articulated coupling (4) between the first anatomical structure (1) and the second anatomical structure (2);determining, based on the second structure correlation data and the coupling data, first structure correlation data describing the spatial position of the at least one correlation feature (3) relative to the first anatomical structure (1).The present invention further relates to a corresponding computer program and system.