Interventional Catheter Planning Using Frame-Reference Transformation
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Solution Overview
Problem
Current systems for deploying minimally invasive interventional instruments struggle to identify an accessible deployment location within anatomical passageways due to constraints of the instrument or anatomy, making it difficult to reach target tissue locations effectively.
Innovation Solution
A method and system that utilize an imaging probe to receive anatomic structure images, transform location data from an image frame of reference to a guide catheter frame of reference, and employ navigation planning modules to determine a planned deployment location considering instrument and anatomical constraints, using sensors and virtual visualization to guide the instrument to the target.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the closest-point deployment location is selected based on proximity to target tissue, then the distance to target is minimized, but the accessibility becomes difficult due to instrument or anatomical constraints
Solution Approach 1:
The patent introduces a guide catheter as an intermediary device that provides a constrained pathway through anatomical structures. The catheter serves as a mediator between the interventional instrument and the target tissue, enabling the instrument to reach locations that would otherwise be inaccessible due to anatomical constraints while maintaining controlled deployment positioning
Solution Approach 2:
The patent transforms the deployment location selection from a purely spatial proximity problem to a multi-dimensional constraint satisfaction problem. By considering instrument length, catheter curvature, anatomical passageway geometry, and deployment angle as additional dimensions, the system identifies feasible deployment locations that balance proximity to target with accessibility constraints
2Manufacturing precision
If frame of reference transformation is implemented to account for instrument constraints, then the deployment accuracy is improved, but the system complexity increases
Solution Approach 1:
The patent performs frame of reference transformation and deployment location planning as preliminary actions before the actual interventional procedure. By pre-calculating the relationship between the catheter frame of reference and the anatomical coordinate system, and determining optimal deployment locations in advance, the system reduces real-time computational requirements and simplifies the operational complexity during the procedure
Solution Approach 2:
The patent replaces complex mechanical alignment procedures with computational frame of reference transformation. Instead of requiring manual mechanical calibration of the catheter and imaging system, the system uses coordinate transformation algorithms to mathematically map locations between different reference frames, reducing mechanical complexity while maintaining precision
Data Source
AI summary
A method of deploying an interventional instrument is performed by a processing system. The method comprises receiving an image of an anatomic structure from an imaging probe. The image has an image frame of reference. The imaging probe is extendable distally beyond a distal end of a guide catheter. The distal end of the guide catheter has a catheter frame of reference. The method further includes receiving location data associated with a target structure identified in the image. The received location data is in the image frame of reference. The method further comprises transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference.