Intraoperative Image Registration for Accurate Minimally Invasive Navigation

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Solution Overview

Problem

Existing minimally invasive medical procedures lack effective systems and methods to enhance workflow by coordinating medical tools with anatomic passageway images, leading to inaccuracies in navigating instruments to target locations within a patient's anatomy.

Innovation Solution

A system and method involving a processor and memory that record shape data for an instrument during an imaging period, receive image data, identify targets, segment and register image data to shape data, and update target locations from pre-operative to intra-operative positions using techniques like point-based iterative closest point algorithms and deep learning.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Object-affected harmful factors

If minimally invasive medical techniques are used to reduce tissue damage, then patient recovery time and discomfort are reduced, but navigation accuracy to target locations deteriorates

Engineering Contradiction:

Improvetissue damageVSAvoidnavigation accuracy

Core Design Contradiction:

Object-affected harmful factorsVSMeasurement precision

Solution Approach 1:

The patent introduces image data as an intermediary between the operator and the target tissue. Intraoperative images capture the actual positions of anatomical structures and instruments, serving as a mediator that bridges the gap between preoperative planning and real-time minimally invasive navigation, thereby maintaining navigation accuracy while using minimally invasive techniques

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system implements feedback by continuously capturing intraoperative images and comparing instrument positions against preoperative models. This closed-loop feedback mechanism allows real-time correction of navigation deviations, ensuring accurate target reach despite the constraints of minimally invasive approaches

Inventive Principle:

Principle #23Feedback

2Device complexity

If pre-operative images are used for navigation, then procedural planning is simplified, but intra-operative anatomical variations are not accounted for

Engineering Contradiction:

Improveprocedural planning complexityVSAvoidanatomical location accuracy

Core Design Contradiction:

Device complexityVSReliability

Solution Approach 1:

The patent performs preliminary action by creating detailed preoperative models and plans before the procedure. These preoperative images and instrument path plans are prepared in advance, allowing the operator to have a clear roadmap while the system remains simple to use during the actual procedure

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system transitions from static preoperative images to dynamic intraoperative imaging. By capturing real-time images during the procedure and updating the navigation model accordingly, the system adapts to anatomical variations and movements, maintaining reliability despite changes in the surgical field

Inventive Principle:

Principle #15Dynamics

3Measurement precision

If intra-operative imaging is performed continuously to track instrument position, then navigation accuracy is improved, but procedure time and radiation exposure increase

Engineering Contradiction:

Improveinstrument position accuracyVSAvoidprocedure time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The patent implements periodic action by capturing images at specific intervals or at key milestones during the procedure rather than continuously. Instrument position is tracked by comparing periodic image sets against the preoperative model, maintaining adequate navigation accuracy while minimizing procedure time and radiation exposure

Inventive Principle:

Principle #19Periodic action

Solution Approach 2:

The system uses partial action by performing image capture only when necessary - such as when approaching critical anatomical landmarks or when navigation uncertainty increases. This selective imaging approach provides sufficient navigation accuracy for the procedure while avoiding unnecessary time loss and radiation exposure

Inventive Principle:

Principle #16Partial or excessive action

Data Source

PatentUS12582478B2Systems and methods for integrating intraoperative image data with minimally invasive medical techniques

Publication Date: 2026.03.24 INTUITIVE SURGICAL OPERATIONS INC

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 shape data for an instrument during an image capture period of an imaging system and receive image data from the imaging system corresponding to the image capture period. A portion of the image data corresponds to the instrument. The computer readable instructions further cause the system to identify a target in the image data, segment the portion of the image data, register the image data to the shape data by comparing the shape data to the portion of the image data corresponding to the instrument, and update a location of the target from a pre-operative location to an intra-operative location based upon the image data.