Flexible Device Registration via Deformation Force
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Solution Overview
Problem
Existing minimally invasive surgical systems face challenges in accurately and efficiently registering medical instruments within complex and dynamic patient anatomy, particularly in branched anatomical passageways.
Innovation Solution
The system employs a flexible device equipped with a shape sensor, memory, and computer-readable media to generate models of anatomical passageways and the instrument's shape, adjusting these models based on deformation forces to accurately register the instrument within the anatomy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional localized tracking of discrete instrument portions is used, then the system complexity is reduced, but the measurement precision of instrument position is insufficient
Solution Approach 1:
The instrument is divided into multiple discrete portions, each equipped with its own tracker. This segmentation allows localized tracking of multiple instrument portions simultaneously, improving overall position monitoring accuracy without requiring a single complex tracking system for the entire instrument.
Solution Approach 2:
Trackers are introduced as intermediary devices attached to the instrument portions. These trackers mediate between the instrument and the tracking system, enabling precise measurement of instrument position and orientation through electromagnetic field detection without requiring direct complex interaction between the tracking system and the instrument itself.
2Measurement precision
If shape sensors are used to accurately describe instrument shape and pose, then the measurement precision is improved, but the processing time and computational intensity increase
Solution Approach 1:
The anatomical passageway model is generated and prepared in advance from pre-procedural imaging data before the instrument is inserted. This preliminary modeling allows the system to have a ready reference framework for rapid comparison and registration with real-time shape sensor data during the procedure, reducing registration time.
Solution Approach 2:
A virtual model (copy) of the anatomical passageway is created from pre-procedural images and used as a reference throughout the procedure. This digital copy allows rapid comparison with real-time shape sensor measurements without requiring repeated complex image processing, thereby reducing registration time while maintaining precision.
3Measurement precision
If the anatomical model is dynamically adjusted based on deformation forces, then the measurement precision is improved, but the computational complexity increases
Solution Approach 1:
Deformation forces are calculated and applied locally at specific instrument-tissue interaction points rather than uniformly across the entire anatomical model. This localized approach allows the model to be dynamically adjusted only where necessary, improving accuracy at critical interfaces while minimizing overall computational complexity.
Solution Approach 2:
The anatomical model parameters are dynamically adjusted based on calculated deformation forces from instrument-tissue interactions. By changing model parameters (such as tissue displacement and deformation) in response to measured forces, the system maintains high measurement precision while using efficient force-based calculations rather than full re-simulation of anatomical structures.
Data Source
AI summary
A medical system comprises a flexible device configured to be positioned at least partially within an anatomical passageway of a plurality of anatomical passageways within a patient anatomy. The medical system further comprises a memory device including computer executable instructions. The computer executable instructions are for performing operations comprising determining a deformation force exerted by a section of the flexible device. The operations further comprise registering a model of a candidate anatomical passageway of the plurality of anatomical passageways to a model of the flexible device based on: a shape of the flexible device; and the deformation force exerted by the section of the flexible device.