Fluoroscopic Catheter Tracking for Accurate 3D Luminal Navigation
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Solution Overview
Problem
Existing three-dimensional volumes generated from previous scans, such as CT scans, do not provide sufficient accuracy for guiding medical instruments to a target during navigation procedures, particularly in endoscopic and bronchoscopic approaches.
Innovation Solution
A system that utilizes a navigation component to track a catheter's position within a luminal network, generating fluoroscopic 3D reconstructions from real-time images, and updating the relative position of the catheter and target in a 3D model, allowing for precise navigation and confirmation of tool placement using electromagnetic navigation systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If previously acquired CT scan data is used to generate a 3D volume for navigation, then the navigation system can be set up quickly, but the accuracy for guiding medical instruments to the target is insufficient
Solution Approach 1:
The system performs preliminary action by acquiring and processing fluoroscopic images during the navigation procedure to generate updated 3D reconstructions. This allows the system to maintain accuracy without requiring extensive pre-procedure scanning time, as the fluoroscopic data is collected and processed in real-time during the actual navigation task.
Solution Approach 2:
The system changes the parameter of image acquisition by switching from static pre-procedure CT scans to dynamic real-time fluoroscopic imaging. This parameter change enables continuous updates of the 3D model during the procedure, maintaining navigation accuracy while adapting to tissue deformation and organ movement that occur during the procedure.
2Measurement precision
If real-time fluoroscopic imaging is used to update the 3D model during the procedure, then navigation accuracy is improved, but the system complexity and imaging requirements increase
Solution Approach 1:
The system applies universality by using a fluoroscopic imaging system that serves multiple functions: it provides real-time guidance during navigation, captures images for 3D reconstruction, and updates the navigation model dynamically. This multi-functionality reduces the need for separate specialized imaging systems, thereby managing complexity while achieving real-time accuracy.
Solution Approach 2:
The system creates a copied 3D representation of the patient's anatomy from fluoroscopic images. This virtual copy is then used for navigation guidance, allowing the system to work with a simplified digital model rather than requiring direct manipulation of complex physical imaging equipment during navigation decisions.
3Measurement precision
If 3D reconstructions are generated from fluoroscopic images during the procedure, then the relative position of catheter and target can be accurately determined, but the processing time and computational requirements increase
Solution Approach 1:
The system maintains continuity of useful action by continuously acquiring fluoroscopic images and continuously updating the 3D reconstruction during the navigation procedure. This continuous process ensures that the navigation model remains current without requiring intermittent stopping for data collection, thereby minimizing processing delays while maintaining accuracy.
Solution Approach 2:
The system performs preliminary processing by pre-segmenting anatomical structures and establishing coordinate systems from initial fluoroscopic images. This preliminary work enables faster real-time updates during the procedure, as the computational framework is already in place and only requires incremental updates rather than complete reprocessing.
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
Enhances navigation accuracy by providing real-time, fluoroscopic 3D reconstructions that facilitate precise alignment of medical devices with targets, reducing the risk of damage to surrounding tissues and organs.
Implementation Method 1
receive a first plurality of fluoroscopic images, generate a first fluoroscopic three-dimensional (3D) reconstruction from the plurality of fluoroscopic images
Implementation Method 2
a navigation component configured to track a position of a catheter navigated into a luminal network... The system where the navigation component is an electromagnetic navigation system
Data Source
AI summary
A system and method for confirming placement of a biopsy tool in a target including a navigation component to track the position of a catheter navigated into a luminal network, and a catheter configured to receive a biopsy tool. The system and method receive a first plurality of fluoroscopic images, generate a first fluoroscopic three-dimensional reconstruction from the plurality of fluoroscopic images, and present a first slice of the 3D reconstruction depicting the catheter in relation to a target visible in the slice of the 3D reconstruction.