Instrument Registration via Position Change Thresholds
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Solution Overview
Problem
Existing systems for minimally invasive medical procedures face challenges in accurately registering medical tools with images of the patient's anatomy, due to anatomical motion and instrument position changes during image capture.
Innovation Solution
A system comprising a processor and memory with computer-readable instructions that record position and shape data for medical instruments, compare these data to thresholds, and determine whether to use image data in a registration procedure, ensuring accurate alignment despite anatomical motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If image data is captured during an extended image capture period to ensure complete instrument visualization, then the completeness of instrument coverage is improved, but the accuracy of registration deteriorates due to instrument position changes and anatomical motion
Solution Approach 1:
The system dynamically adjusts the image capture period based on real-time instrument position data. By monitoring instrument movement and anatomical motion, the system optimizes the capture duration to be just long enough to complete the registration, avoiding both truncation and excessive capture that would introduce motion artifacts.
Solution Approach 2:
The system uses feedback from position sensors tracking instrument location and anatomical motion to continuously evaluate whether the current image capture period is appropriate. This feedback loop allows the system to adjust capture timing in real-time, ensuring complete instrument coverage while maintaining registration accuracy by stopping capture before significant motion occurs.
2Measurement precision
If the image capture period is shortened to freeze anatomical motion and improve registration accuracy, then the registration precision is improved, but the risk of incomplete instrument coverage increases
Solution Approach 1:
The system performs preliminary assessment of instrument position and anatomical motion characteristics before initiating the image capture period. By predicting the required capture duration based on pre-capture conditions, the system can set an optimal capture period that ensures complete instrument coverage while minimizing the window for motion-induced registration errors.
3Measurement precision
If position data is continuously monitored to detect instrument movement exceeding thresholds, then the registration accuracy is improved by selecting appropriate image data, but the system complexity and data processing requirements increase
Solution Approach 1:
The system extracts only the critical position data points that are most relevant to determining whether instrument movement exceeds acceptable thresholds. By selectively monitoring key positions rather than processing all available position data continuously, the system maintains registration accuracy while reducing computational complexity and data processing requirements.
Data Source
AI summary
A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record position data for an instrument during an image capture period and determine an instrument position change from the recorded position data. The computer readable instructions, when executed by the processor, may also cause the system to compare the instrument position change to a position change threshold and based on the comparison, determine whether to use image data captured by an imaging system during the image capture period in a registration procedure.