Bronchoscope Image Tracking for Hidden Surgical Tip Localization
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Solution Overview
Problem
Existing methods for tracking surgical devices during bronchoscopy procedures, such as those described in U.S. Pat. Nos. 6,947,788 and 9,265,468, require electromagnetic fields or x-ray imaging, which are undesirable due to their limitations and potential drawbacks.
Innovation Solution
A system that calculates the location of a medical device within a patient's body using live images of the operative field, relative to a 3D model derived from pre-acquired data, and provides real-time tracking and augmented reality overlays to guide the physician.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fluoroscopy or electromagnetic field systems are used to track surgical devices, then device location can be determined, but the complexity of the system increases and additional imaging equipment is required
Solution Approach 1:
The patent extracts the tracking function from complex external imaging systems (fluoroscopy, electromagnetic fields) and implements it using the existing bronchoscope camera and processor. The processor analyzes images from the bronchoscope to determine device location, eliminating the need for separate tracking systems while maintaining measurement precision.
Solution Approach 2:
The bronchoscope system is made multi-functional by enabling it to perform both visualization and device tracking functions. The same camera and processor used for viewing the operative field are also used to track the surgical device, eliminating the need for dedicated tracking equipment and reducing overall system complexity.
2Measurement precision
If multiple fluoroscopic views are taken to track the device, then device position can be determined, but the radiation exposure and imaging time increase
Solution Approach 1:
The system performs preliminary analysis of the operative field images to identify and track the device continuously throughout the procedure. By establishing tracking from the outset using the bronchoscope camera, the system eliminates the need for repeated fluoroscopic views to determine device position, reducing both imaging time and radiation exposure.
Solution Approach 2:
The tracking function operates continuously using the live feed from the bronchoscope camera, providing uninterrupted device position information. This continuous tracking replaces discrete fluoroscopic views, maintaining measurement precision while significantly reducing the total imaging time and radiation exposure to the patient.
3Measurement precision
If skilled physicians manually determine device position from 2D X-rays, then device location can be found, but the uncertainty and subjectivity increase
Solution Approach 1:
The processor provides objective feedback by automatically analyzing images to determine device location, replacing subjective manual interpretation. The system processes the visual information and provides consistent, repeatable measurements of device position based on image analysis, eliminating variability between different physicians' interpretations.
Solution Approach 2:
The manual mechanical process of visual inspection and interpretation by physicians is replaced with an automated image processing system. The processor objectively analyzes the images to determine device location, replacing the mechanical/subjective human interpretation process with an automated computational system that provides more reliable and consistent results.
Data Source
AI summary
A method and system for assisting a physician compute the 3D location of the tip of a surgical device inserted into a patient is described. A trained model computes the 3D location of the hidden portion of the surgical device based on live image data of the operative field. A display shows the tip of the surgical device and a 3D model of the body organ in a fused arrangement.