Robotic Bronchoscopy Tool-in-Lesion Guidance With Augmented Fluoroscopy
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Solution Overview
Problem
Existing robotic bronchoscopy systems face challenges with CT-to-body divergence (CT2BD), leading to increased procedure length and nondiagnostic outcomes due to poor depth resolution in tomosynthesis reconstructions, making it difficult to accurately determine if a tool is within a target lesion.
Innovation Solution
A tomosynthesis-based tool-in-lesion decision method using augmented fluoroscopy and marker-based pose estimation to provide quantitative spatial relationship information, enabling accurate localization of tools within lesions through 3D reconstruction and real-time navigation guidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If tomosynthesis reconstruction is used for 3D visualization, then spatial relationship information is provided, but depth resolution is poor making it difficult to determine if a tool is within a target lesion
Solution Approach 1:
The patent combines tomosynthesis imaging with fluoroscopic imaging to create a hybrid navigation system. Tomosynthesis provides 3D spatial relationship information while fluoroscopy provides real-time 2D projection images with better depth resolution. The system merges these two imaging modalities to overcome the limitations of each individual modality, allowing operators to accurately determine tool-in-lesion status.
Solution Approach 2:
The patent introduces augmented reality overlays that project 3D lesion models onto 2D fluoroscopic images. This dimensionality transformation allows operators to visualize depth information and spatial relationships in the familiar 2D fluoroscopic view, effectively adding depth perception to the 2D image plane without requiring direct 3D visualization.
2Ease of operation
If traditional robotic bronchoscopy systems are used, then navigation guidance is provided, but CT-to-body divergence increases procedure length and reduces diagnostic yield
Solution Approach 1:
The system implements real-time feedback by continuously updating the navigation guidance based on actual tool position and lesion location. The augmented reality display provides immediate visual feedback to the operator about tool-in-lesion status, allowing for real-time course correction and eliminating the need for frequent pauses to assess position, thereby reducing overall procedure time.
Solution Approach 2:
The system performs preliminary registration of the patient's anatomy using CT imaging before the procedure, creating a pre-planned navigation path. This preliminary action establishes the initial spatial framework that guides the procedure, reducing the need for time-consuming intra-procedural adjustments and corrections.
3Shape
If standard orthogonal plane viewing is used for tomosynthesis, then 3D volume display is provided, but resolution is poor in two of the planes
Solution Approach 1:
Instead of displaying all three orthogonal planes simultaneously (which would show poor resolution in two planes), the system transforms the 3D volume data into 2D augmented reality overlays on the fluoroscopic image. This dimensionality change allows the best-resolution view to be presented in the operator's primary viewing modality while maintaining accurate 3D spatial relationships.
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
Improves the accuracy and efficiency of tool localization within lesions by providing precise spatial relationship information, reducing procedure time and enhancing diagnostic yield in robotic bronchoscopy.
Implementation Method 1
receiving a sequence of fluoroscopic image frames corresponding to various poses of an imaging system acquiring the sequence of fluoroscopic image frames... generating a reconstructed 3D tomosynthesis image based at least in part on the poses of the imaging system
Implementation Method 2
The sequence of fluoroscopic image frames may include a marker... the poses of the imaging system may be estimated using the marker
Data Source
AI summary
Systems and methods for a robotic endoscopy system are provided. The method comprises: (a) receiving instruction to present, at a graphical display, one or both of: one or more tomosynthesis reconstructions or one or more augmented fluoroscopic overlays; and (b) in response to receiving the instruction, causing the graphical display to present one or both of the tomosynthesis reconstructions or the augmented fluoroscopic overlays.