Endoscope Tip Tracking Using Inertial Sensing and Insertion Length
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Solution Overview
Problem
Current endoscopic procedures face challenges in tracking the position of the scope tip due to the risks of prolonged radiation exposure from fluoroscopy, high costs and special requirements of electromagnetic sensors, and the impracticality of obtaining real-time data using conventional methods.
Innovation Solution
The use of an accelerometer embedded in the distal tip of an elongate shaft to determine the position of the endoscope by measuring acceleration and combining it with length insertion data, supplemented by imaging techniques like CT scans and cameras, to provide real-time navigation and mapping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fluoroscopy is used to track the scope tip, then the position of the endoscope can be determined, but radiation exposure to patients, physicians, and staff increases
Solution Approach 1:
The patent replaces the fluoroscopy-based electromagnetic tracking system with a mechanical inertial measurement system using accelerometers and gyroscopes embedded in the endoscope. This substitution eliminates radiation exposure while maintaining position tracking capability through inertial navigation and integration of motion data.
Solution Approach 2:
The patent introduces intermediate sensors (accelerometers, gyroscopes, and optical sensors) that indirectly measure position by tracking motion and orientation changes. These intermediary devices convert physical motion into electrical signals that can be processed to determine endoscope location without requiring direct fluoroscopic imaging.
2Measurement precision
If conventional electromagnetic sensors are used for tracking, then position data can be obtained, but the sensors become large and expensive
Solution Approach 1:
The patent employs inexpensive, miniaturized inertial sensors (accelerometers and gyroscopes) that can be embedded directly in the endoscope shaft. These compact sensors replace bulky electromagnetic sensors, reducing both size and cost while enabling integration into the distal tip for accurate local motion measurement.
Solution Approach 2:
The patent divides the tracking function into multiple segments: accelerometers measure linear acceleration, gyroscopes measure angular velocity, and optical sensors at the distal tip provide visual feedback. Each sensor type handles a specific aspect of motion measurement, allowing the use of smaller, specialized sensors rather than a single large electromagnetic sensor.
3Measurement precision
If fluoroscopy and active CT are used for tracking, then position information can be obtained, but real-time data acquisition becomes impractical
Solution Approach 1:
The patent implements continuous real-time tracking by continuously sampling data from accelerometers, gyroscopes, and optical sensors. The inertial measurement units provide uninterrupted streams of motion data that are continuously integrated and processed, enabling real-time position and orientation updates without the intermittent nature of fluoroscopic imaging.
Solution Approach 2:
The patent replaces the slow, image-based fluoroscopy/CT systems with fast inertial sensing that directly measures motion at high sampling rates. This mechanical sensing approach provides immediate feedback on acceleration and orientation changes, enabling real-time tracking response that is impractical with radiographic methods.
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 tracking of the endoscope tip without radiation exposure, reducing costs and complexity, and allowing for precise navigation in complex anatomies.
Implementation Method 1
obtain data from an accelerometer, the accelerometer located in the elongate shaft adjacent a distal end
Data Source
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AI summary
Methods and systems for determining and mapping a location of a distal end region of an elongate shaft. An illustrative method may comprise obtaining data from an accelerometer located in the elongate shaft adjacent a distal end thereof, determining a length of the elongate shaft inserted into a body from a reference point, merging the accelerometer data and the length of the elongate shaft to localize the distal end region of the elongate shaft, reconstructing a line of travel of the medical device within the body, and superimposing the reconstructed line of travel over an image of an anatomy of the patient.