Anatomy Registration Using Landmark-Guided Instrument Tracking
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Solution Overview
Problem
Existing minimally invasive medical procedures require substantial operator input for manual registration of image-guided instruments to anatomical structures, which is time-consuming and inefficient.
Innovation Solution
A system and method for semi-automatically registering real-time images with prior-time anatomic images by using a medical instrument that collects measurement points along a path from a known anatomical landmark, determining the instrument's location relative to the anatomy, and registering these points to a patient model.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual registration of image-guided instruments to anatomical structures is performed, then registration accuracy can be achieved, but the process becomes time-consuming and requires substantial operator input
Solution Approach 1:
The system performs preliminary actions by automatically collecting measurement points along the instrument path and pre-processing this data for registration. The control system proactively gathers anatomical data points and prepares registration information before the operator needs to complete the registration, reducing the time required while maintaining accuracy through automated point collection and processing.
2Ease of operation
If manual registration of image-guided instruments to anatomical structures is performed, then registration can be completed, but substantial operator input is required
Solution Approach 1:
The system performs self-service by automatically collecting measurement points along the instrument path, determining instrument location, and generating registration data without requiring continuous operator intervention. The control system autonomously processes the registration workflow, eliminating the need for operators to manually input data while maintaining high registration efficiency through automated point collection and coordinate system transformation.
3Extent of automation
If automated collection of measurement points is implemented, then operator input is reduced, but system complexity increases
Solution Approach 1:
The control system performs multiple functions through a single integrated platform: it collects measurement points, tracks instrument position, transforms coordinates between reference frames, and executes registration. This multi-functional approach consolidates what would otherwise require separate systems into one unified control system, achieving high automation without proportionally increasing overall system complexity.
Data Source
AI summary
A system may comprise a medical instrument, a tracking subsystem configured to receive position data from the medical instrument, and a control system communicatively coupled to the medical instrument and the tracking subsystem. The control system may be configured to perform operations including accessing a model of an anatomic structure of a patient and receiving an indication that the medical instrument has been delivered to a known anatomical landmark. The operations may also include collecting a plurality of measurement points of the anatomic structure along a measurement path extending from a measurement initiation position proximate the known anatomical landmark within the anatomic structure of the patient as the medical instrument moves along the measurement path. The operations may also include determining a location of the medical instrument relative to the anatomic structure and registering the collected plurality of measurement points to the model of the anatomic structure.