Fluoroscopic Image Registration for Real-Time Surgical Navigation
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Solution Overview
Problem
Existing minimally invasive medical procedures face challenges in accurately navigating medical instruments due to the inability of fluoroscopic images to capture high-quality images of certain tissues, while static pre-operative or intra-operative images lack real-time information, necessitating a method to register real-time fluoroscopic and prior-time static images for enhanced navigation.
Innovation Solution
A computing system registers the fluoroscopic frame of reference to an anatomic model frame of reference by identifying positions of anatomic landmarks and matching indicator portion positions, allowing constrained actuation of medical instruments within the patient anatomy based on sensor information and shape data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If fluoroscopic images are used for real-time navigation, then real-time imaging capability is improved, but image quality for certain tissues deteriorates
Solution Approach 1:
The patent combines fluoroscopic images (real-time but lower quality) with pre-operative CT or MRI images (high quality but static) through image registration. This merging allows the system to maintain real-time navigation capability while compensating for poor tissue visualization by overlaying high-quality anatomical structures from the pre-operative images onto the real-time fluoroscopic views.
Solution Approach 2:
The patent introduces an image registration system as an intermediary that bridges the gap between fluoroscopic and pre-operative imaging modalities. The registration process aligns the fluoroscopic coordinate system with the CT/MRI coordinate system, allowing accurate superposition of high-quality anatomical images onto real-time fluoroscopic images, thereby improving tissue visualization without sacrificing real-time capability.
2Measurement precision
If static pre-operative images are used for navigation, then image quality is improved, but real-time information is lost
Solution Approach 1:
The patent merges static pre-operative CT/MRI images with real-time fluoroscopic images through coordinate system registration. The high-quality anatomical structures from pre-operative images are overlaid on real-time fluoroscopic views, providing both detailed anatomical information and current positional data of medical instruments during the procedure.
Solution Approach 2:
The patent transforms the static pre-operative images into a dynamic navigation tool by continuously registering them with real-time fluoroscopic images. The registered pre-operative images are updated and repositioned throughout the procedure to match the current anatomical configuration and instrument positions, allowing high-quality anatomical guidance to adapt to real-time changes.
3Measurement precision
If image registration is performed between fluoroscopic and anatomic model frames, then navigation precision is improved, but system complexity increases
Solution Approach 1:
The patent introduces a coordinate transformation system as an intermediary that automatically registers the fluoroscopic frame of reference with the anatomic model frame of reference. This registration process aligns the two coordinate systems using identified landmark positions, enabling precise navigation without requiring complex manual alignment procedures.
Solution Approach 2:
The patent creates a virtual copy of the anatomic model in the fluoroscopic coordinate system through registration. By mapping the anatomic model landmarks to corresponding positions in the fluoroscopic image and establishing a transformation relationship, the system generates a registered virtual representation that simplifies navigation while maintaining precision.
Data Source
AI summary
A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.