Patient Anatomy Registration Using Landmark-Guided Measurement Paths
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Solution Overview
Problem
Existing image-guided medical procedures require substantial operator input for manual registration of medical instruments to patient anatomy, which is time-consuming and inefficient.
Innovation Solution
A semi-automatic registration system that initiates registration by delivering a medical instrument proximate a known anatomical landmark, using sensors to collect measurement points, and generating a virtual view for completing the registration process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual registration process is used, then operator control and precision are maintained, but registration time and operator effort increase substantially
Solution Approach 1:
The system performs preliminary actions by automatically collecting measurement points from anatomical landmarks and pre-processing the registration data before operator review. This includes automatic detection of anatomical features, generation of candidate correspondences, and preparation of registration transformations, thereby reducing the time required for the actual registration process while maintaining precision through operator verification.
Solution Approach 2:
The system introduces an intermediary automated registration process that acts as a mediator between the operator and the final registration result. This intermediary performs automated point matching, generates preliminary registration transformations, and presents multiple candidate solutions to the operator for selection and refinement, thereby reducing manual effort while preserving precision through iterative optimization.
2Measurement precision
If manual registration process is used, then accurate instrument positioning is achieved, but operator effort and procedural complexity increase
Solution Approach 1:
The system implements self-service by enabling automatic collection of measurement points from anatomical structures, automated matching of corresponding points between pre-operative and intra-operative data, and automatic computation of registration transformations. This reduces operator effort significantly while maintaining positioning accuracy through algorithmic precision and automated quality checks.
Solution Approach 2:
The system replaces the mechanical manual manipulation of instruments for registration purposes with automated sensor-based measurement and computational algorithms. Sensors automatically capture anatomical surface data, and software algorithms perform point matching and transformation calculations, substituting manual mechanical operations with automated sensing and computing while improving ease of operation.
3Productivity
If automated registration is implemented, then registration time and operator effort are reduced, but system complexity increases
Solution Approach 1:
The system segments the registration process into distinct modular components: anatomical landmark detection, measurement point collection, point correspondence matching, transformation calculation, and quality assessment. Each module performs a specific function and can be independently optimized or configured, managing system complexity through functional decomposition while maintaining high registration efficiency.
Solution Approach 2:
The system manages complexity by dynamically adjusting registration parameters such as the number of measurement points collected, the density of surface sampling, the criteria for point matching, and the transformation optimization parameters. These parameters can be adapted based on the specific anatomical structure, imaging modality, and clinical requirements, allowing the system to maintain efficiency across diverse applications without requiring complex hard-coded logic for each scenario.
Data Source
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AI summary
A system includes a medical instrument (202), a tracking subsystem (230) configured to receive position data from the medical instrument, and a control system (112) communicatively coupled to the medical instrument and the tracking subsystem. The control system is configured to: access a model of an anatomic structure of a patient, receive an indication that a medical instrument has been delivered to a known anatomical landmark within the anatomic structure, collect a plurality of measurement points of the anatomic structure along a measurement path as the medical instrument moves along the measurement path, determine a location of the medical instrument relative to the anatomic structure of the patient, and register the collected plurality of measurement points to the model of the anatomic structure of the patient.