Deformable Robotic Instrument for Motion-Compensated Medical Imaging
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current imaging techniques face challenges in maintaining image quality due to subject movement during data acquisition, particularly in medical imaging, where respiratory motion causes artifacts and requires a priori motion models that may be inaccurate.
Innovation Solution
A medical imaging device uses a deformable robotic instrument in contact with the subject to acquire motion and geometry data, which is then used to compensate for subject motion during image processing, allowing for improved image quality without the need for a priori estimates or regular motion assumptions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a priori motion models are used to compensate for respiratory motion, then motion compensation can be achieved, but the accuracy is limited by model inaccuracies and the need for regular motion assumptions
Solution Approach 1:
The patent replaces mechanical motion tracking systems with a deformable robotic instrument that passively deforms according to subject motion. This substitution eliminates the need for active tracking markers and a priori motion models, allowing direct measurement of actual subject motion through the instrument's deformation state, thereby improving both accuracy and adaptability to irregular motion patterns
Solution Approach 2:
The deformable robotic instrument acts as an intermediary between the subject and the imaging system. The instrument's deformation serves as a mediator that translates subject motion into measurable geometric changes, enabling motion compensation without requiring direct observation of the subject or assumptions about motion patterns
2Measurement precision
If additional tracking markers or contrast agents are used to improve motion tracking, then motion compensation accuracy improves, but subject stress increases and the procedure becomes more complex
Solution Approach 1:
The deformable robotic instrument serves itself as the motion tracking mechanism. Instead of requiring external tracking markers or contrast agents applied to the subject, the instrument's own deformation in response to subject motion provides the necessary motion information, eliminating harmful factors while maintaining measurement precision
Solution Approach 2:
The patent extracts the motion tracking function from separate components (tracking markers, contrast agents) and integrates it into the robotic instrument itself. The instrument's deformation naturally encodes motion information, eliminating the need for additional substances or markers that would increase subject stress
3Manufacturing precision
If slower 3D imaging devices are used to reduce radiation exposure or improve image quality, then image quality improves, but motion artifacts increase due to longer acquisition times
Solution Approach 1:
The system implements feedback by using the deformable instrument's deformation information to guide motion compensation during image reconstruction. This feedback loop allows slower imaging devices to produce high-quality images by correcting for motion based on real-time deformation data from the instrument, effectively decoupling image quality from acquisition speed
Data Source
AI summary
A medical imaging device, a system, and a method for generating a motion-compensated image are provided. A corresponding method as well as a computer readable storage medium having stored thereon a corresponding computer program are also provided. Image data is captured and acquired while a deformable robotic instrument is in contact with a subject to be imaged. A data processor is configured to compensate for a motion of the subject by processing the image data in dependence on time-resolved motion and/or geometry data of the robotic instrument, and/or by generating a control signal for controlling the robotic instrument to counteract the motion of the subject.