Continuous Catheter Registration Using Shape Sensing for Image-Guided Surgery
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Solution Overview
Problem
Existing minimally invasive medical procedures face challenges in accurately registering models of patient anatomy with medical instruments due to disturbances from electromagnetic or impedance sensing technologies, which can impair data quality and obstruct clinical workflows.
Innovation Solution
A method involving a flexible catheter with a tracking system that collects measured points by shape sensing and assigns them to subsets based on physiological functions, using iterative closest point techniques for registration, allowing continuous updating and comparison of registration candidates to ensure optimal alignment with patient anatomy models.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If electromagnetic or impedance sensing technologies are used for tracking medical instruments, then real-time position data can be obtained, but disturbances are introduced that impair data quality and obstruct clinical workflows
Solution Approach 1:
The patent replaces electromagnetic and impedance sensing technologies with optical tracking technology. The optical tracking system uses reflective markers and optical cameras to capture and process position data, eliminating electromagnetic disturbances while maintaining real-time tracking capability. This substitution resolves the contradiction by removing the harmful electromagnetic field source while preserving the measurement function.
2Measurement precision
If frequent registration updates are performed to maintain accuracy with moving anatomy, then registration precision is improved, but computational time and processing load increase
Solution Approach 1:
The patent implements a hybrid update strategy where registration is performed continuously at a reduced computational level using optical tracking data, with full registration updates triggered only when motion thresholds are exceeded or at scheduled intervals. This partial action approach maintains adequate registration accuracy while significantly reducing overall computational load and processing time compared to continuous full registration.
Solution Approach 2:
The system performs preliminary motion detection and analysis before committing to full registration updates. By pre-assessing whether motion warrants a full registration recalculation, the system avoids unnecessary computational expenditure while ensuring registration accuracy is maintained when genuinely needed.
3Reliability
If multiple registration candidates are generated and compared to handle anatomical motion, then registration reliability is improved, but device complexity and computational requirements increase
Solution Approach 1:
The patent implements a dynamic registration candidate management system that adapts the number and type of registration candidates generated based on detected motion levels. During periods of minimal motion, fewer candidates are generated to reduce complexity. When significant motion is detected, the system dynamically increases the number of candidates and performs more comprehensive comparisons, thereby maintaining reliability while managing computational complexity through adaptive behavior.
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
This approach enhances the accuracy and reliability of image-guided surgery by minimizing disturbances and maintaining precise registration between patient anatomy models and medical instruments, adapting to patient movements and ensuring high-fidelity surgical guidance.
Implementation Method 1
the measured points determined by a shape of the catheter in the patient space
Data Source
AI summary
Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.