Medical Coordinate System Registration via Volumetric Model Matching
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Solution Overview
Problem
Current medical imaging and positioning systems face challenges in accurately registering three-dimensional pre-acquired images with two-dimensional real-time images, leading to potential inaccuracies in the positioning of medical devices during procedures.
Innovation Solution
A method and system that acquire 2D images and MPS points within tubular organs, extract 3D image models, estimate volumetric models, and register the 3D and 2D coordinate systems by matching the extracted and estimated models, ensuring high accuracy in device positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If mechanical interconnections are used between imaging systems to provide fixed offsets, then device positioning accuracy is improved, but system complexity and rigidity increase
Solution Approach 1:
The patent introduces a registration object with known geometry as an intermediary between the first and second imaging systems. This registration object serves as a mediator that enables coordinate system transformation without requiring direct mechanical interconnections between the imaging systems, thus reducing system complexity while maintaining positioning accuracy through geometric matching algorithms.
2Measurement precision
If multiple coordinate systems are registered through complex transformation algorithms, then registration accuracy is improved, but processing time and computational complexity increase
Solution Approach 1:
The patent performs preliminary acquisition of the registration object from both imaging systems before the actual medical procedure. By pre-acquiring and pre-processing the registration data, the coordinate system transformations can be computed in advance, reducing real-time processing requirements and enabling faster device positioning during the procedure while maintaining high registration accuracy.
3Loss of information
If fluoroscopic dyes are used extensively for device visualization, then device visibility is improved, but patient radiation exposure and contrast agent usage increase
Solution Approach 1:
The patent creates a virtual copy of the medical device by tracking its position through the registration system and superimposing it on the fluoroscopic images. This virtual representation allows device visualization without requiring extensive use of fluoroscopic dyes, thereby reducing patient radiation exposure and contrast agent usage while maintaining adequate device visibility for the procedure.
Data Source
AI summary
A method for registering a three dimensional (3D) coordinates system with a Medical Positioning System (MPS) coordinate system and with a two dimensional (2D) coordinate system, includes acquiring at least one 2D image of a volume of interest, the volume of interest including at least one tubular organ within the body of a patient. The 2D image is associated with the 2D coordinate system, and a plurality of MPS points is acquired, within the at least one tubular organ. The MPS points are associated with the MPS coordinate system, the MPS coordinate system being registered with the 2D coordinate system. A 3D image model is extracted of the at least one tubular organ form a pre-acquired 3D image of the volume of interest. A volumetric model of the at least one tubular organ from the 2D image is estimated and from the acquired MPS points, the 3D coordinate system is registered with the MPS coordinate system and with the 2D coordinate system by matching the extracted 3D image model and the estimated volumetric model of the at least one tubular organ.