Flexible Instrument Localization Using Remote and Elongation Sensing
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Solution Overview
Problem
Current methods struggle to accurately determine the location, orientation, and shape of flexible medical devices within the body due to their non-rigid linkages, making it difficult to effectively control or model these devices during minimally invasive procedures.
Innovation Solution
A system that combines remote localization measurements with elongation measurements to provide a more accurate localization of flexible instruments by transforming the data into a coordinate reference frame, using techniques such as fluoroscopy, electromagnetic sensors, and elongation measurements to enhance localization accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional localization techniques (encoders, visual tracking) are used for flexible devices, then device location can be determined for rigid structures, but the techniques fail to accurately determine location and shape of flexible devices due to non-rigid linkages
Solution Approach 1:
The patent combines remote localization measurements (from fluoroscopy or electromagnetic sensors) with elongation measurements (from tendons or Bowden coils) to create a hybrid localization system. This merging of measurement techniques allows accurate determination of flexible device position and shape by compensating for the limitations of each individual method when applied to non-rigid structures
Solution Approach 2:
The patent introduces elongation elements (tendons, Bowden coils) as intermediary components that indirectly measure device configuration. These elements act as mediators between the flexible device structure and the localization system, providing measurable elongation data that reflects device shape and position without requiring direct rigid linkage encoding
2Adaptability or versatility
If flexible devices with non-rigid linkages are used to navigate complex anatomy, then device versatility and navigation capability improve, but the ability to determine device location, orientation, and shape deteriorates
Solution Approach 1:
The patent adds a new measurement dimension by incorporating elongation measurements alongside remote localization data. This dimensional augmentation provides additional information about device configuration that complements the spatial position data, enabling accurate reconstruction of flexible device shape and orientation in three-dimensional space
Solution Approach 2:
The patent changes the measurement parameters from solely positional (x, y, z coordinates) to include configurational parameters (elongation, tension). By measuring both position and elongation of tendons or Bowden coils, the system captures changes in device shape and orientation that result from flexible articulation, enabling accurate localization despite non-rigid linkages
Data Source
AI summary
A system and method of tracking a flexible elongate instrument within a patient is disclosed herein. The system is configured to obtain remote localization measurement data of the flexible elongate instrument and obtain elongation measurement data of the flexible elongate instrument. This data is combined and transformed to a coordinate reference frame to produce a localization of the flexible elongate instrument that is more accurate than the remote localization measurements or elongation measurement data alone. The combined localization is then provided to a localization consumer.