Forward-Facing Imaging Array for Consistent Plane Orientation
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Solution Overview
Problem
Current minimally invasive medical procedures face challenges in providing accurate intra-operative imaging guidance due to the limitations of side-facing imaging arrays, which can generate confusing images as the instrument bends or rotates, affecting the orientation of the imaging plane and complicating navigation during procedures like biopsies.
Innovation Solution
A system with a forward-facing multi-directional imaging array and a localization sensor that allows for the selection of a consistent imaging plane relative to the anatomic passageway, regardless of the instrument's orientation, by registering the sensor to the patient anatomy and using pose data to activate specific transducer elements for optimal image generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a side-facing imaging array is used in minimally invasive procedures, then the instrument can be inserted through natural orifices or incisions, but the imaging plane orientation becomes confusing and unpredictable when the instrument bends or rotates
Solution Approach 1:
The patent inverts the conventional side-facing imaging array approach by using a forward-facing imaging array at the distal end of the instrument. This inversion allows the imaging plane to remain consistently oriented relative to the instrument axis, eliminating the confusion that occurs with side-facing arrays when the instrument bends or rotates. The forward-facing array maintains a stable reference frame for navigation.
Solution Approach 2:
The patent replaces the mechanical reliance on instrument orientation with electronic/image processing solutions. A localization sensor tracks the instrument's position and orientation, and a controller dynamically adjusts the imaging plane display based on this data. This substitution transforms the mechanical orientation problem into an electronic correction problem, maintaining consistent imaging plane orientation regardless of instrument position.
2Loss of information
If a forward-facing imaging array is used, then the imaging plane orientation remains consistent, but additional components (localization sensor, controller) are required
Solution Approach 1:
The forward-facing imaging array serves multiple functions: it provides primary imaging capability and maintains consistent orientation reference. The localization sensor simultaneously tracks position for navigation and provides orientation data for image plane correction. This multi-functionality justifies the added components by having them serve multiple purposes rather than single dedicated functions.
Solution Approach 2:
The controller acts as an intermediary that receives data from both the imaging device and localization sensor, then processes and combines this information to generate correctly oriented images. This intermediary component coordinates the interaction between sensors and imaging, managing the complexity centrally rather than requiring complex distributed systems.
3Measurement precision
If dynamic image plane selection is implemented based on orientation data, then navigation accuracy improves, but processing requirements and system complexity increase
Solution Approach 1:
The system performs preliminary registration of the localization sensor to the patient anatomy before the actual imaging and navigation procedure. This pre-registration establishes the coordinate transformation relationships in advance, so that during the procedure, the controller only needs to apply pre-calculated corrections based on real-time orientation data, rather than performing complex calculations dynamically.
Solution Approach 2:
The system implements a feedback loop where the localization sensor continuously provides orientation data to the controller, which then adjusts the imaging plane selection in real-time. This closed-loop feedback ensures that the displayed images always correspond to the correct anatomical plane, maintaining high navigation accuracy through continuous correction rather than complex open-loop calculations.
Data Source
AI summary
A system may comprise an elongate flexible instrument including an imaging device disposed at a distal end portion of the elongate flexible instrument. The imaging device may include a multi-directional imaging array. The elongate flexible instrument may also include a localization sensor extending within the elongate flexible instrument. The system may also comprise a controller comprising one or more processors configured to register the localization sensor to a patient anatomy and receive orientation data for the distal end portion of the elongate flexible instrument from the localization sensor. Based on the orientation data, an imaging plane of the imaging device may be selected. An image in the selected imaging plane may be displayed. The image may be generated by imaging data from the multi-directional imaging array of the imaging device.