Medical Instrument Navigation Using Ordered Sensor Path Registration
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Solution Overview
Problem
Current systems for tracking minimally invasive medical instruments relative to anatomical passageways are prone to errors, particularly in dense and narrow anatomical structures like the lungs, due to challenges in accurately registering the instrument tip with the model of the passageway.
Innovation Solution
The method involves registering a medical instrument with a model of anatomical passageways using temporally ordered sensor records to improve tracking accuracy, incorporating a probabilistic framework that processes sensor data to align the instrument's path history with the anatomical model, enhancing registration precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If current tracking systems are used to locate the instrument tip in dense anatomical passageways, then the system is simple to operate, but the measurement precision deteriorates
Solution Approach 1:
The system performs preliminary registration of the instrument with the anatomical model using path history data before navigation begins. This preliminary action establishes an accurate reference framework that enables precise tracking throughout the procedure, resolving the contradiction by preparing the measurement system in advance rather than attempting real-time localization in dense passageways
Solution Approach 2:
The patent introduces path history data as an intermediary element that mediates between the instrument and the anatomical model. This intermediary provides continuous positional information that enhances measurement precision without requiring direct complex interactions between the instrument tip and the dense anatomical structures
2Reliability
If traditional registration methods are used, then the device complexity is low, but the reliability of instrument location deteriorates
Solution Approach 1:
The system implements feedback by continuously comparing the instrument's path history with the anatomical model and adjusting the registration accordingly. This feedback mechanism enhances reliability by constantly validating and correcting the instrument location, preventing drift and errors that would occur with simpler one-time registration methods
Solution Approach 2:
The registration process performs preliminary alignment using accumulated path history data before final instrument positioning. This preliminary action establishes a reliable reference framework that improves registration accuracy without requiring complex real-time adjustments during critical navigation phases
3Object-affected harmful factors
If the instrument navigation relies on imprecise tracking, then the ease of operation is maintained, but the harmful factors increase due to unintended locations and backtracking
Solution Approach 1:
The patent replaces mechanical trial-and-error navigation with a computational navigation system that uses path history registration to guide the instrument. This substitution eliminates the need for physical backtracking and repositioning by providing accurate virtual guidance, thereby reducing tissue damage while maintaining ease of operation through intuitive visual feedback
Solution Approach 2:
The system creates a virtual copy of the anatomical passageways and overlays it with the instrument's actual position. This copying approach allows the operator to navigate using the accurate virtual model rather than relying on imprecise direct observation, reducing harmful backtracking while keeping the interface simple and intuitive
Data Source
AI summary
A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history. The method further includes displaying a virtual visualization image in a display system, the virtual visualization image being based on the registering of the medical instrument with the model of the anatomical passageway and depicting a rendered view of the model of the anatomical passageway from a perspective of the medical instrument within the model of the anatomical passageway.