Real-time tissue deformation correction in endoscopy
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Solution Overview
Problem
During endoscopy procedures, accurate device-to-image registration is compromised by tissue deformation due to respiratory motion and interactions between the endoscopic device and internal structures, leading to incorrect overlay and guiding capabilities.
Innovation Solution
A method for real-time correction of regional tissue deformation through visualization guidance, involving the acquisition of image data, generation of a 3D anatomy model, initial registration between image and device spaces, tracking the device trajectory, and effecting corrections using interpolation techniques to minimize divergence between the model and device trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If continuous radiation exposure methods (e.g., augmented fluoroscopy) are used to track anatomical movement, then real-time visualization guidance is improved, but radiation exposure and equipment constraints increase
Solution Approach 1:
The patent extracts the harmful radiation component from the tracking system by replacing continuous fluoroscopy with intermittent Cone-Beam CT scans combined with electromagnetic sensor tracking. This allows accurate anatomical movement tracking without continuous radiation exposure, resolving the contradiction between measurement precision and harmful factors.
Solution Approach 2:
The system uses periodic Cone-Beam CT scans rather than continuous imaging to update the guidance map. This periodic action provides sufficient tracking accuracy while dramatically reducing radiation exposure compared to continuous fluoroscopy, directly addressing the technical contradiction.
2Ease of manufacture
If pre-procedural imaging is used to generate guidance maps, then initial registration is achieved, but tissue deformation during procedure causes mismatch between device space and image space
Solution Approach 1:
The patent implements feedback by using electromagnetic sensors on the catheter to continuously track device position and comparing it against the guidance map. This feedback loop allows real-time detection of registration errors due to tissue deformation and enables corrective updates to maintain accuracy throughout the procedure.
Solution Approach 2:
The system transitions from a static pre-procedural guidance map to a dynamic tracking system that continuously updates device position and anatomical landmarks. This dynamic approach compensates for tissue deformation during the procedure, maintaining registration accuracy despite changes in tissue position and shape.
3Speed
If electromagnetic navigation is used for device tracking, then real-time position detection is achieved, but divergence between device trajectory and model occurs due to tissue deformation
Solution Approach 1:
The system performs preliminary action by establishing the initial guidance map and registration framework before the procedure begins. This pre-established framework enables rapid real-time tracking throughout the procedure while maintaining accuracy through pre-calibrated anatomical relationships that are subsequently updated as needed.
Solution Approach 2:
The patent uses electromagnetic fields as an intermediary to track device position without physically interfering with tissue or anatomy. This non-contact tracking method achieves both high-speed real-time detection and maintains trajectory accuracy by using magnetic field interactions that do not cause tissue deformation or obstruction.
Data Source
AI summary
A method for visualization guidance of device-to-image registration includes acquiring image data of a patient, generating a 3D model of the anatomy of the patient based on the image data, performing initial registration between image space and device space, advancing a device into a structure, tracking trajectory of the device in relation to the model, determining divergence between the device trajectory and the model, and effecting correction to the model or the device trajectory to minimize the divergence.