Fluoroscopic Pose Estimation Using Marker Tracking for 3D Imaging
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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 for safe and precise 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 3D coordinates, and reconstructing 3D volumetric data using a structure from motion approach, which includes wide-angle sweeps and electromagnetic sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If fluoroscopic imaging is used to visualize medical devices and structures, then real-time imaging capability is achieved, but three-dimensional reconstruction accuracy deteriorates due to the two-dimensional nature of the images
Solution Approach 1:
The patent transforms 2D fluoroscopic images into 3D representations by performing a sweep through multiple angles and applying structure-from-motion algorithms. This dimensional transformation enables accurate 3D reconstruction while maintaining the real-time imaging capability of fluoroscopy, directly resolving the contradiction between speed and measurement precision.
2Illumination intensity
If standard fluoroscopic imaging is used, then large soft-tissue objects and dense objects are visualized well, but small soft-tissue objects such as lesions cannot be resolved
Solution Approach 1:
By reconstructing 3D volumetric data from multiple 2D fluoroscopic views, the system enhances the visibility and resolution of small soft-tissue objects like lesions. The 3D reconstruction provides additional spatial information that allows clinicians to distinguish small lesions from surrounding tissue, overcoming the resolution limitations of standard 2D fluoroscopy.
3Device complexity
If two-dimensional fluoroscopic images are used for navigation, then the imaging process is simple, but accurate and safe navigation within the body cannot be achieved
Solution Approach 1:
The patent automatically generates 3D reconstructed images from routine 2D fluoroscopic sweeps without requiring additional hardware or complex manual operations. This automated 3D reconstruction provides accurate spatial information for safe navigation while maintaining the simplicity of the existing fluoroscopic imaging workflow, resolving the contradiction between device complexity and navigation reliability.
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 3D reconstruction of medical devices within the body, improving image quality and facilitating safe navigation to target areas, such as lesions, by integrating fluoroscopic and CT data for enhanced procedural accuracy.
Implementation Method 1
A fluoroscopic imaging device is commonly located in the operating room during procedures to navigate a medical device to a target within a patient's body
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.