Fluoroscopic Pose Estimation for 3D Lesion Reconstruction
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Solution Overview
Problem
Fluoroscopic imaging devices struggle to accurately visualize small soft-tissue objects like lesions due to their two-dimensional nature, necessitating a fast and robust three-dimensional reconstruction during medical procedures.
Innovation Solution
A method for estimating the pose of a fluoroscopic imaging device by capturing fluoroscopic images, identifying and tracking radiopaque markers, determining three-dimensional coordinates, and constructing 3D volumetric data using a sweep with the imaging device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fluoroscopic imaging is used to visualize body structures, then real-time imaging during procedures is achieved, but small soft-tissue objects such as lesions cannot be resolved accurately
Solution Approach 1:
The patent transitions from two-dimensional fluoroscopic imaging to three-dimensional reconstruction by performing sweeps at multiple angles (including greater than 30 degrees about the longitudinal axis) and applying structure-from-motion algorithms. This dimensional enhancement enables accurate visualization of small soft-tissue objects like lesions while maintaining real-time imaging capabilities during medical procedures.
2Ease of operation
If standard fluoroscopic imaging is used, then two-dimensional projection images are obtained, but three-dimensional navigation information is lost
Solution Approach 1:
The system performs preliminary three-dimensional reconstruction by capturing fluoroscopic images during sweeps at multiple angles before the actual navigation procedure. This pre-established 3D model preserves spatial information that can then be used to guide real-time navigation, combining the advantages of both 2D real-time imaging and 3D structural information.
3Measurement precision
If fluoroscopic sweeps at multiple angles are performed, then three-dimensional reconstruction accuracy is improved, but imaging time and procedure complexity increase
Solution Approach 1:
The patent implements a sweep that includes fluoroscopic imaging device viewing angles about a longitudinal axis of greater than 30 degrees with respect to an anteroposterior position. This partial sweep approach provides sufficient angular coverage for accurate 3D reconstruction without requiring a complete 360-degree rotation, thereby reducing imaging time while maintaining reconstruction accuracy.
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
Enables accurate and safe navigation of medical devices by providing 3D reconstruction of body structures, improving image quality for procedures such as biopsy and ablation, and correcting navigation errors using electromagnetic locating systems.
Implementation Method 1
A fluoroscopic imaging device may be used by a clinician to visualize and confirm the placement of a medical device
Implementation Method 2
identifying and tracking radiopaque markers along a length of a catheter in the fluoroscopic images of the catheter
Data Source
AI summary
Imaging systems and methods estimate poses of a fluoroscopic imaging device, which may be used to reconstruct 3D volumetric data of a target area, based on a sequence of fluoroscopic images of a medical device or points, e.g., radiopaque markers, on the medical device captured by performing a fluoroscopic sweep. The systems and methods may identify and track the points along a length of the medical device appearing in the captured fluoroscopic images. The 3D coordinates of the points may be obtained, for example, from electromagnetic sensors or by performing a structure from motion method on the captured fluoroscopic images. In other aspects, a 3D shape of the catheter is determined, then the angle at which the 3D catheter projects onto the 2D catheter in each captured fluoroscopic image is found.