Hybrid Localization System Coordinate Registration
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Solution Overview
Problem
Current localization systems, such as magnetic-based and impedance-based systems, have limitations in tracking multiple localization elements simultaneously due to inhomogeneities and 'drift' in electrical fields, and require transformation of position measurements to a common coordinate frame for accurate representation.
Innovation Solution
A hybrid localization system combining magnetic- and impedance-based systems, using a method to register both systems to a common coordinate frame through fiducial groupings and non-linear registration algorithms like thin plate splines or radial basis function networks, allowing for accurate transformation and anomaly monitoring.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If an impedance-based localization system is used to track numerous localization elements simultaneously, then the quantity of tracked elements is improved, but measurement precision deteriorates due to inhomogeneities in the electrical field and drift
Solution Approach 1:
The patent combines impedance-based localization system and magnetic-based localization system into a hybrid system. The impedance-based system tracks numerous localization elements simultaneously while the magnetic-based system provides precise reference measurements. By merging these two systems and registering their coordinate frames, the patent achieves both high quantity of tracked elements and high measurement precision.
2Measurement precision
If a magnetic-based system is used to improve homogeneity and reduce drift, then measurement precision is improved, but the quantity of localization elements that can be simultaneously tracked deteriorates
Solution Approach 1:
The patent merges magnetic-based and impedance-based localization systems. The magnetic-based system provides accurate position measurements with less drift, while the impedance-based system enables tracking of numerous localization elements. By combining these systems and establishing a coordinate transformation between them, the patent achieves both high measurement precision and high quantity of tracked elements.
Solution Approach 2:
The hybrid localization system performs multiple functions: the impedance-based system tracks numerous elements simultaneously while the magnetic-based system provides precise reference measurements. The system universally handles both high-quantity tracking and high-precision measurement that individually neither system can achieve alone.
3Reliability
If multiple localization systems with unique coordinate frames are combined, then the advantages of each system are leveraged, but device complexity increases due to the need for coordinate frame transformation
Solution Approach 1:
The patent performs preliminary coordinate frame registration by identifying corresponding fiducial points in both impedance-based and magnetic-based coordinate frames. A transformation matrix is pre-calculated to map between these coordinate frames. This preliminary action simplifies subsequent operations by establishing a ready-to-use coordinate transformation, reducing the complexity of real-time integration.
Solution Approach 2:
The patent uses fiducial points as intermediaries to register the coordinate frames of the impedance-based and magnetic-based systems. These fiducial points serve as common reference markers that both systems can detect, enabling the calculation of a transformation matrix that mediates between the two unique coordinate frames and simplifies their integration.
4Measurement precision
If position measurements from different localization systems are transformed to a common coordinate frame, then measurement precision is improved by eliminating coordinate frame discrepancies, but loss of information may occur during transformation
Solution Approach 1:
The patent employs feedback mechanisms to monitor and detect anomalies in the localization measurements. By continuously comparing measurements from both systems and monitoring for discrepancies, the system can identify potential information loss or measurement errors during coordinate transformation and adjust accordingly, maintaining measurement precision while minimizing information loss.
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 simultaneous tracking of multiple localization elements with reduced inhomogeneity and drift effects, providing accurate position measurements in a common frame while mitigating anomalies like dislodgement or drift, thereby enhancing the precision and reliability of medical device tracking during procedures.
Implementation Method 1
magnetic-based system offers the advantages of improved homogeneity and less drift than an impedance-based system
Implementation Method 2
impedance-based localization systems determine the coordinates of the medical device by interpreting a voltage measured by the medical device as a location within an electrical field
Data Source
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AI summary
A method of registering two or more localization systems 8 utilizing unique coordinate frames A and B to a common coordinate frames includes measuring position information for one or more reference locations r in each coordinate frame (Ar and Br). For each reference location, a fiducial grouping is created from the respective position measurements (Ar, Br). The fiducial groupings are used to generate a mapping function f that transforms position measurements expressed relative to the second coordinate frame B to the first coordinate frame A. The mapping function f is defined such that a distance between f(Br) and Ar is about zero for each reference location r. Each localization system 8 may also measure position information for a respective fixed reference localization element. Divergence between these fixed reference localization elements in the common coordinate system may be used to monitor, signal, and correct for anomalies such as dislodgement and drift.