EMT Organ Tracking for Percutaneous Procedure Registration
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Solution Overview
Problem
In percutaneous procedures, accurately accessing a target site without damaging adjacent organs or tissues is challenging, particularly during procedures like percutaneous renal access, due to the need for precise patient and instrument repositioning without misregistration.
Innovation Solution
An electromagnetic tracking (EMT) system with a field generator and tracker defines a coordinate system, using a catheter with an EMT sensor to track organs, a needle with an EMT sensor, and an ultrasound probe for real-time tracking and registration, allowing continuous guidance during repositioning by recalculating transformation matrices and generating visual representations on a user interface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If real-time tracking and registration are used to guide percutaneous procedures, then procedural accuracy and safety are improved, but the system complexity and difficulty of maintaining registration during repositioning increase
Solution Approach 1:
The patent introduces a reference sensor attached to the organ as an intermediary element that mediates between the tracking system and the moving organ. This reference sensor serves as a stable reference point that moves with the organ, allowing the system to maintain accurate registration even when the patient or tracker is repositioned. The reference sensor acts as a bridge that connects the external tracking system to the internal organ motion, resolving the complexity of directly tracking the organ without external references.
Solution Approach 2:
The system creates a virtual copy or model of the organ's position and orientation based on the reference sensor data. This virtual representation is then used for guidance and planning, allowing surgeons to work with a simplified digital model rather than directly managing the complex physical tracking of all system components. The visual reconstruction of intraoperative and preoperative data creates a copied representation that maintains accuracy without requiring direct complex measurements.
2Adaptability or versatility
If patient or EMT tracker repositioning is performed during percutaneous procedure, then procedural flexibility and patient comfort are improved, but registration accuracy deteriorates
Solution Approach 1:
The system dynamically adapts to repositioning by continuously updating the transformation matrices based on the new positions of the reference sensor and tracker. Rather than maintaining a static registration, the system allows the coordinate transformations to change dynamically as the patient or tracker is moved. This dynamic update mechanism ensures that registration accuracy is maintained even during repositioning events, resolving the contradiction between flexibility and precision.
Solution Approach 2:
The system employs feedback through continuous tracking of the reference sensor position and recalculating the transformation matrices in real-time. When repositioning occurs, the tracker detects the new position, and the system automatically updates the registration based on this feedback. This closed-loop feedback mechanism ensures that registration accuracy is maintained despite changes in patient or tracker position, allowing flexible repositioning without sacrificing measurement precision.
3Reliability
If continuous visual guidance is maintained during repositioning, then procedural safety is improved, but computational load and processing time increase
Solution Approach 1:
The system performs preliminary calculations by pre-establishing the transformation matrices and coordinate system relationships before repositioning occurs. The reference sensor is attached and its initial position is recorded in advance. When repositioning happens, the system only needs to calculate the change in position relative to this pre-established reference, rather than performing complete registration calculations from scratch. This preliminary preparation reduces the computational load during actual repositioning events while maintaining continuous safety guidance.
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 system minimizes the risk of puncturing unintended organs, reduces surgical complications, and enhances procedural accuracy by compensating for respiratory and internal movements, ensuring fast and less risky percutaneous procedures with reduced patient harm and improved clinical outcomes.
Implementation Method 1
The system uses an electromagnetic tracking (EMT) system comprising an EMT field generator and tracker, thus defining an EMT coordinate system, for real-time tracking of one or more EMT sensors
Data Source
AI summary
Guided percutanous device and method for providing visual representations of organ registration and tracking during a guided percutaneous procedure using an electromagnetic tracking (EMT) system comprising an EMT field generator and tracker defining an EMT coordinate system, a catheter with a EMT sensor for placing in the organ to indicate a percutaneous procedure target, a needle with an EMT sensor, an ultrasound (US) probe with an EMT sensor, and an electronic data processor configured for carrying out the steps of: loading preoperative imaging data; receiving 3D poses of the catheter, needle and US probe from the EMT; receiving intraoperative imaging data; calculating transformation matrices and multiplying said matrices to transform said imaging data and needle pose to a catheter pose; generating a visual representation of the transformed imaging data and needle pose for displaying on a user interface; generating a visual representation of the transformed registered preoperative imaging data for displaying on a user interface.