Navigated Flexible Endoscopy Lesion Localization
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Solution Overview
Problem
During exploratory endoscopic procedures, it is challenging to accurately locate lesions or areas of interest detected through virtual endoscopy, as there is no effective way to register image-based data with the patient's real-world location, often resulting in significant error and disorientation, especially in arborized tissues like the bronchial pathways.
Innovation Solution
A system that includes a control unit, a tracked medical instrument with sensor elements, and a position sensing system to register the path of the instrument in image space with the patient's anatomy, using pre-operative and intra-operative images to create a transformation matrix for precise navigation and localization of lesions during optical endoscopy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Difficulty of detecting and measuring
If virtual endoscopy imaging methods are used to locate lesions, then lesion detection capability is improved, but localization accuracy in real-world patient anatomy deteriorates due to inability to register image data with patient location
Solution Approach 1:
A tracked medical instrument serves as an intermediary between the virtual endoscopy image space and the patient's real-world anatomy. The instrument contains sensor elements that track its position and orientation, creating a bridge that registers image-based lesion locations with actual patient anatomy during optical endoscopy procedures.
Solution Approach 2:
The patent replaces traditional mechanical registration methods with an electromagnetic tracking system. Sensor elements on the medical instrument detect electromagnetic fields to determine position and orientation, substituting mechanical alignment procedures with field-based tracking for more accurate and efficient registration.
2Ease of operation
If traditional optical endoscopy is used without navigation, then procedure simplicity is maintained, but physician disorientation and navigation errors increase in complex anatomical structures
Solution Approach 1:
The system provides continuous feedback to the physician by tracking the medical instrument's position and overlaying it with pre-operative images. This real-time feedback loop shows the instrument's location relative to lesions and anatomical structures, preventing disorientation without requiring the physician to mentally track complex spatial relationships.
Solution Approach 2:
The patent adds a visual dimension to traditional optical endoscopy by overlaying tracked instrument position and lesion locations onto real-time images. This creates a multi-layered visual interface that provides spatial context and navigation guidance while maintaining the familiar optical endoscopy workflow.
3Measurement precision
If pre-operative imaging and registration are performed, then lesion localization precision is improved, but system complexity and procedural time increase
Solution Approach 1:
The tracked medical instrument serves multiple functions: it acts as both the diagnostic/endoscopic tool and the tracking target. The sensor elements on the instrument enable position tracking without requiring separate registration devices, reducing system complexity while maintaining localization precision.
Solution Approach 2:
Pre-operative imaging and lesion identification are performed before the procedure, allowing the navigation system to be prepared in advance. This preliminary action enables real-time navigation during the procedure without adding complexity to the actual endoscopy execution, as the image space is already established and ready for registration.
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 enables more accurate and efficient localization of suspicious lesions by aligning image data with the patient's anatomy, reducing the likelihood of errors and improving the physician's ability to inspect and treat lesions during conventional endoscopic exams.
Implementation Method 1
a position sensing system to sense position coordinates of the one or more sensor elements
Data Source
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AI summary
The invention provides a method and system for performing an image-guided endoscopic medical procedure. The invention may include registering image-space coordinates of a path of a medical instrument within the anatomy of a patient to patient-space coordinates of the path of the medical instrument within the anatomy of the patient. In some embodiments, the image space coordinates of the path of the medical instrument may be predicted coordinates such as, for example, a calculated centerline through a conduit-like organ, or a calculated "most likely path" of the medical instrument within the anatomy of the patient. In other embodiments, the path of the medical instrument may be an actual path determined using intra-operative images of the patient's anatomy with the medical instrument inserted therein. The registered instrument may then be navigated to one or more items of interest for performance of the endoscopic medical procedure.