Catheter Navigation Using EM Sensor and Camera Registration

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Solution Overview

Problem

Existing navigation systems for medical devices in luminal networks face inaccuracies due to CT-to-body divergence, leading to increased surgical times and radiation exposure from fluoroscopic navigation.

Innovation Solution

A system comprising a catheter with a camera and an electromagnetic (EM) sensor, and a workstation that generates a 3D representation of the patient's anatomy, identifies anatomical landmarks, and registers the catheter's location using real-time images and EM sensor data to mitigate CT-to-body divergence.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If fluoroscopic navigation is used to correct location inaccuracies, then measurement precision is improved, but loss of time and radiation exposure increase

Engineering Contradiction:

Improvelocation accuracyVSAvoidsurgical time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The system performs preliminary registration of the catheter to the 3D anatomical model using electromagnetic tracking before fluoroscopy is needed. By establishing the initial location accuracy through EM tracking and pre-aligning the coordinate systems, the need for repeated fluoroscopic corrections during the procedure is reduced, thereby decreasing surgical time while maintaining measurement precision

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously updates the catheter location in the 3D model by comparing real-time electromagnetic tracking data with the pre-acquired 3D anatomical images. This feedback mechanism allows the system to maintain accurate location information without requiring repeated fluoroscopic interventions, thus reducing both surgical time and radiation exposure while preserving measurement precision

Inventive Principle:

Principle #23Feedback

2Measurement precision

If fluoroscopic navigation is used to identify current position, then measurement precision is improved, but radiation exposure increases

Engineering Contradiction:

Improveposition accuracyVSAvoidradiation exposure

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The system replaces fluoroscopic imaging with electromagnetic tracking for continuous monitoring of catheter position. The EM tracking system uses magnetic fields to locate the catheter in real-time, providing accurate position information without the ionizing radiation associated with fluoroscopy, thus maintaining measurement precision while eliminating radiation exposure

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The electromagnetic tracking system serves multiple functions: it provides continuous position tracking, enables real-time updates to the 3D model, and eliminates the need for fluoroscopic navigation. This multi-functional approach maintains position accuracy while avoiding the harmful radiation effects of fluoroscopy

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Device complexity

If CT-to-body divergence is not corrected, then device complexity is reduced, but measurement precision deteriorates

Engineering Contradiction:

Improvesystem simplicityVSAvoidnavigation accuracy

Core Design Contradiction:

Device complexityVSMeasurement precision

Solution Approach 1:

The system performs preliminary registration between the electromagnetic coordinate system and the CT image coordinate system before navigation begins. By pre-aligning these coordinate systems and accounting for the CT-to-body divergence in the initial setup, the system maintains measurement precision without requiring complex real-time corrections, thus balancing device complexity with navigation accuracy

Inventive Principle:

Principle #10Preliminary action

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

The system improves the accuracy of medical device navigation within luminal networks by integrating real-time imaging with pre-procedure data, reducing reliance on fluoroscopy and minimizing surgical time and radiation exposure.

Implementation Method 1

identify a location of the EM sensor of the catheter within a reference coordinate frame using the EM sensor

Methodology Applied

Scientific EffectElectromagnetic tracking: Electromagnetic Induction

Data Source

PatentUS20250040995A1Updating enb to CT registration using intra-op camera

Publication Date: 2025.02.06 COVIDIEN LP

AI summary

A system for performing a surgical procedure includes a catheter including a camera and an electromagnetic sensor and a workstation operably coupled to the catheter, the workstation including a memory storing instructions, which when executed cause a processor to receive pre-procedure images of a patient's anatomy, generate a 3D representation of the patient's anatomy, identify first anatomical landmarks within the generated 3D representation, identify a location of the EM sensor within a reference coordinate frame, receive real-time images from the camera, identify second anatomical landmarks within the received real-time images corresponding to the identified first anatomical landmarks, identify a location of the camera within the reference coordinate frame using the identified second anatomical landmarks corresponding to the identified first anatomical landmarks, and register a location of the catheter to the 3D representation using the identified locations of the EM sensor and the camera within the reference coordinate frame.