Endoscope Image Reliability Screening for Luminal Navigation
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Solution Overview
Problem
Existing medical procedures, such as endoscopy and bronchoscopy, face challenges in navigating medical instruments through complex luminal networks due to limitations in image-based branch detection and mapping, leading to inefficiencies and the need for awkward arm motions by physicians.
Innovation Solution
A robotically-enabled medical system with cart-based and table-based configurations, featuring robotic arms and instrument drivers, enables precise navigation and control of medical instruments like endoscopes and catheters, allowing for enhanced imaging and guidance, and enabling a single user to operate multiple instruments from an ergonomic position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If image-based branch detection and mapping is used for navigation, then diagnostic accuracy can be maintained, but the procedure becomes time-consuming and complex
Solution Approach 1:
The system performs preliminary actions by pre-processing images to detect branch openings and create a luminal network map before the instrument reaches those locations. This allows the system to predict and prepare navigation paths in advance, reducing real-time processing time while maintaining navigation precision.
Solution Approach 2:
The patent replaces manual mechanical navigation with an automated image-based navigation system. The computer system automatically detects branch openings, maps luminal networks, and guides instrument navigation, substituting manual mechanical operations with automated computational processes that are both precise and efficient.
2Adaptability or versatility
If manual instrument navigation is used, then procedural flexibility is maintained, but physician strain and operational difficulty increase
Solution Approach 1:
The system introduces an intermediary computer system that acts as a mediator between the physician and the complex navigation tasks. The computer system handles the difficult aspects of luminal network navigation while the physician maintains oversight and makes high-level decisions, combining computational precision with human judgment and flexibility.
Solution Approach 2:
The navigation system performs self-service by automatically detecting branch openings, mapping luminal networks, and providing navigation guidance without requiring constant manual intervention. The system independently processes images and generates navigation paths, reducing the operational burden on the physician while maintaining procedural adaptability.
3Adaptability or versatility
If multiple instruments are used for comprehensive diagnosis and treatment, then procedural capability is enhanced, but system complexity and operational difficulty increase
Solution Approach 1:
The system achieves multi-functionality by integrating multiple instrument control capabilities within a single unified platform. The robotic system can handle different instrument types (biopsy forceps, bronchial blockers, etc.) through common control mechanisms, reducing overall system complexity while maintaining comprehensive procedural capability.
Solution Approach 2:
The patent merges multiple instrument control functions into a single integrated robotic system. By combining the control of various medical instruments under one unified robotic platform with centralized image-based navigation, the system reduces operational complexity while enhancing procedural capability.
Data Source
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AI summary
Described herein are systems and methods related to image management. A system may include an instrument that includes an elongate body and an imaging device. The elongate body can be configured to be inserted into a luminal network. The imaging device may be positioned at a distal tip of the elongate body. The system may receive from the imaging device one or more images captured when the elongate body is within the luminal network. For each of the images, the system may determine one or more metrics that are indicative of a reliability of an image for localization of the distal tip of the elongate body within the luminal network. The system may determine a reliability threshold value for each of the one or more metrics. The system can utilize the one or more images based on whether the one or more metrics meet corresponding reliability threshold values.