Catheter Tool Orientation Detection Using Image-Based Rotational Offset
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Solution Overview
Problem
Existing minimally invasive medical techniques face challenges in accurately determining the orientation and proper installation of tools within catheters, which can affect the precision and efficacy of procedures.
Innovation Solution
A method and system for determining the orientation of a tool within a catheter using an image sensor to capture and process images, identify viewable features, adjust background colors, and calculate rotational offsets based on angular orientations of these features.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If image processing is used to determine tool orientation, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent uses visual features (optical copies) of the tool and catheter geometry to determine orientation. Instead of complex mechanical sensors, the system captures images and analyzes the visual representation of geometric features like the catheter opening and tool edges, extracting orientation information from these optical copies.
Solution Approach 2:
The patent replaces complex mechanical orientation sensing systems with an optical imaging and image processing system. The mechanical complexity of precision sensors is substituted by capturing images with a camera and processing them through algorithms that identify geometric features and calculate orientation from pixel data.
2Measurement precision
If multiple image processing steps are implemented, then measurement precision is improved, but loss of time increases
Solution Approach 1:
The patent performs preliminary actions by capturing multiple images at different tool orientations during installation and pre-processing them to extract geometric feature information before the critical orientation determination step. This includes identifying the catheter opening orientation and tool feature orientations in advance, so that when the final orientation calculation is needed, the data is already prepared.
Solution Approach 2:
The patent segments the image processing into distinct steps: capturing images at multiple known orientations, processing each image to identify geometric features, and then combining this pre-processed information to determine the final tool orientation within the catheter. This segmentation allows parallel processing and optimization of each step.
Data Source
AI summary
An apparatus comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the apparatus to capture, via an image sensor of a tool installed at least partially within a catheter, a first image within a lumen of the catheter. The first image comprises a plurality of pixels. The instructions further cause the apparatus to identify a first subset of the pixels comprising a viewable feature, and a second subset of the pixels comprising a background color. The instructions further cause the apparatus to adjust the second subset to a neutral color, create a modified image by filtering the pixels to remove the second subset, determine an angular orientation of the viewable feature in the modified image, and determine a rotational offset of the tool relative to the catheter based on the angular orientation of the viewable feature.