Intraoperative Imaging Probe Registration Using Sheath Identification Features
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Solution Overview
Problem
Existing minimally invasive medical procedures face challenges in accurately registering intraoperative image data to a medical instrument reference frame, which affects the precision and efficiency of navigating medical instruments to target tissues.
Innovation Solution
A medical system and method that includes an imaging probe within an elongate sheath, with an identification feature, and a control system to analyze imaging data and register it to the reference frame of the elongate device, using techniques like point-based iterative closest point (ICP) for precise alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If minimally invasive imaging instruments are used to reduce tissue damage, then patient recovery time and discomfort are reduced, but accurately registering intraoperative image data to the medical instrument reference frame becomes more difficult
Solution Approach 1:
The patent introduces identification features as intermediary markers that are visible in both the intraoperative images and the preoperative images. These features serve as a common reference between the imaging coordinate system and the instrument reference frame, enabling accurate registration without requiring direct mechanical coupling between the imaging instrument and the medical instrument.
Solution Approach 2:
The patent replaces mechanical registration methods (such as physical attachments or mechanical alignment tools) with an image-based registration system. By detecting identification features in images and using point-based iterative closest point (ICP) algorithms, the system achieves automatic registration without mechanical intervention, maintaining the minimally invasive advantage while ensuring registration accuracy.
2Ease of operation
If image-based registration methods are used, then the minimally invasive approach is maintained, but the complexity of the control system increases
Solution Approach 1:
The imaging instrument performs self-registration by automatically detecting its own position and orientation through the identification features in the images. The control system executes the registration algorithm autonomously without requiring manual intervention or complex external equipment, thereby maintaining ease of operation while managing system complexity through automated functionality.
Solution Approach 2:
The patent incorporates identification features into the medical instrument and imaging system in advance, before the actual procedure. This preliminary preparation allows the registration process to occur automatically during the procedure without requiring complex real-time calculations or manual alignment, thus simplifying the control system's real-time requirements while maintaining the minimally invasive approach.
3Measurement precision
If identification features are added to the elongate sheath, then registration accuracy is improved, but the device complexity increases
Solution Approach 1:
The patent applies identification features only at specific locations on the elongate sheath where they are most effective for registration, rather than covering the entire device. This localized approach provides sufficient registration accuracy while minimizing the added complexity and material requirements. The features are strategically positioned to enable accurate determination of the imaging instrument's position and orientation relative to the medical instrument.
Data Source
AI summary
A medical system comprises an elongate device, an elongate sheath configured to extend within the elongate device, and an imaging probe configured to extend within the elongate sheath. The elongate sheath includes an identification feature. The medical system further comprises a control system configured to receive imaging data from the imaging probe. The imaging data is captured by the imaging probe. The control system is further configured to analyze the imaging data to identify an appearance of the identification feature within the imaging data. The control system is further configured to, based on the appearance of the identification feature, register the imaging data to a reference frame of the elongate device.