EM Navigation and CBCT Integration for Lung Tool Positioning
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Solution Overview
Problem
Current systems for guiding surgeons during lung treatment procedures lack real-time visualization and navigation of airways and tools within the lungs, as they rely on pre-operative images that do not account for changes or movements during the procedure.
Innovation Solution
A method integrating electromagnetic navigation with cone beam computed tomography (CBCT) to provide real-time three-dimensional visualization of the lung's luminal network, tool positioning, and navigation pathways, using an electromagnetic field generator, EM sensor, and CBCT imaging to update tool positions and compensate for imaging device distortion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If pre-operative CT scan images are used for guidance, then the system complexity is reduced, but the measurement precision and reliability of tool positioning deteriorate due to anatomical changes and respiratory movement
Solution Approach 1:
The system transitions from static pre-operative CT images to dynamic real-time CBCT imaging that continuously updates anatomical representations during the procedure. The CBCT scanner captures current anatomical positions, and the system dynamically regenerates 3D models and navigation pathways to reflect respiratory movement and anatomical changes, thereby maintaining measurement precision without excessive complexity increase.
Solution Approach 2:
The system implements feedback by using CBCT images to detect actual tool positions and anatomical structures during the procedure, then comparing these with planned positions. The navigation system uses this feedback to update and correct navigation pathways in real-time, compensating for anatomical changes and improving tool positioning precision through iterative correction.
2Measurement precision
If real-time CBCT imaging is implemented, then the measurement precision and visualization accuracy are improved, but the device complexity and imaging time increase
Solution Approach 1:
The system merges the CBCT imaging system with the electromagnetic navigation system into an integrated platform. The CBCT scanner, electromagnetic field generator, navigation computer, and display system are combined into a unified workflow where imaging and navigation data are processed together, reducing overall device complexity despite the addition of real-time imaging capabilities.
Solution Approach 2:
The system performs preliminary registration by matching CBCT images with pre-operative CT data before navigation begins. This preliminary alignment establishes a reference framework that simplifies subsequent real-time tracking and visualization, reducing the computational complexity required during active navigation while maintaining high visualization accuracy.
3Measurement precision
If continuous EM field tracking is used, then the navigation precision is improved, but the device complexity increases due to EM field generation and sensor tracking requirements
Solution Approach 1:
The electromagnetic field generator serves multiple functions: it generates the EM field for sensor tracking, provides spatial reference for navigation, and enables real-time tool position detection. This multi-functionality reduces the need for separate tracking systems, thereby limiting the increase in device complexity while maintaining high navigation precision through continuous EM field-based tracking.
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
Enables accurate, real-time navigation and visualization of tools within the lungs, improving the precision and effectiveness of lung treatment procedures by accounting for respiratory cycles and tool movements.
Implementation Method 1
generating, by an electromagnetic (EM) field generator, an EM field about the patient's chest, detecting a location of an EM sensor within the EM field
Implementation Method 2
receiving cone beam computed tomography (CBCT) image data of the patient's chest, detecting the location of the tool within the patient's chest based on the CBCT image data
Data Source
AI summary
The present disclosure relates to systems, devices and methods for providing visual guidance for navigating inside a patient's chest. An exemplary method includes presenting a three-dimensional (3D) model of a luminal network, generating, by an electromagnetic (EM) field generator, an EM field about the patient's chest, detecting a location of an EM sensor within the EM field, determining a position of a tool within the patient's chest based on the detected location of the EM sensor, displaying an indication of the position of the tool on the 3D model, receiving cone beam computed tomography (CBCT) image data of the patient's chest, detecting the location of the tool within the patient's chest based on the CBCT image data, and updating the indication of the position of the tool on the 3D model based on the detected location.