Dynamic Image-Sensor Registration for Instrument Navigation
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Solution Overview
Problem
Preoperative images do not accurately reflect the spatial relationship between a medical instrument and a target during the intraoperative phase due to anatomical changes, leading to inaccurate navigation.
Innovation Solution
Register the updated image space with the sensor space by determining a mapping or transformation between different coordinate spaces using sensor and image data to facilitate real-time navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If preoperative images are used for navigation, then the navigation system can be established early, but the spatial accuracy deteriorates due to anatomical changes over time
Solution Approach 1:
The system transitions from static preoperative images to dynamic intraoperative imaging, allowing the navigation system to adapt to anatomical changes in real-time. The imaging system captures updated anatomical data during the procedure, and the coordinate mapping is dynamically adjusted to reflect current anatomical positions, resolving the contradiction between early system establishment and sustained spatial accuracy.
Solution Approach 2:
The system implements feedback by continuously comparing sensor data from the instrument with updated image data from the imaging system. This feedback loop allows for real-time correction of spatial positioning, ensuring that the navigation system remains accurate despite anatomical changes. The coordinate mapping is iteratively refined based on the feedback from intraoperative imaging.
2Measurement precision
If real-time imaging is performed during intraoperative phase, then spatial accuracy is improved, but the device complexity increases
Solution Approach 1:
The imaging system serves multiple functions: it captures preoperative anatomical data, provides intraoperative imaging for real-time updates, and enables coordinate mapping between different coordinate spaces. By making the imaging system multi-functional, the patent reduces the need for separate dedicated devices, thereby managing complexity while maintaining high spatial accuracy through real-time imaging.
Solution Approach 2:
The controller acts as an intermediary that coordinates between the imaging system, sensor system, and navigation software. It manages the complex tasks of image processing, coordinate transformation, and data integration, thereby simplifying the overall system architecture. The controller mediates the interaction between multiple subsystems, reducing the apparent complexity for the user while enabling real-time accurate navigation.
3Device complexity
If coordinate mapping is performed using only preoperative data, then the registration process is simplified, but the navigation accuracy deteriorates due to anatomical changes
Solution Approach 1:
The system performs preliminary coordinate mapping using preoperative images to establish the initial navigation framework. This preliminary action provides a starting point for navigation while acknowledging that it will be refined later. The preoperative mapping simplifies the initial registration process, but the system is designed to update and refine this mapping intraoperatively to maintain accuracy despite anatomical changes.
Solution Approach 2:
The coordinate mapping transitions from a static preoperative state to a dynamic intraoperative state. The system initially uses preoperative data for simplified registration, then dynamically updates the coordinate mapping using intraoperative imaging data. This dynamic adaptation allows the system to maintain navigation accuracy while managing registration complexity through a phased approach.
Data Source
AI summary
This disclosure provides methods, devices, and systems for planning and performing medical procedures. The present implementations more specifically relate to registering an image space with a sensor space for navigating an instrument within an anatomy. In some aspects, a controller for a medical system may determine a position of the instrument in the sensor space based on sensor data received from a sensor disposed on the instrument and may determine a position of the instrument in the image space based on image data captured by an imaging system external to the anatomy while the instrument is disposed within the anatomy. The controller determines a mapping between the image space and the sensor space based on the position of the instrument in the sensor space and the position of the instrument in the image space. In some implementations, the imaging system may be a cone beam computed tomography (CBCT) system.