Luminal Sensor Registration Using Contra-Lateral Branch Navigation
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Solution Overview
Problem
Current surgical robotic systems face challenges in registering the location sensor coordinate system with the model coordinate system, which is essential for accurately determining the position of medical tools within a patient's luminal network during procedures like bronchoscopy, due to the lack of predefined reference frames for location sensors.
Innovation Solution
The system employs a method involving the instrument being driven along a contra-lateral branch outside the target path, tracking registration parameters, and then returning to the target path, allowing for the determination of a registration between the location sensor and model coordinate systems based on location data received from sensors during these maneuvers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional registration methods are used without predefined reference frames, then the system can operate with flexible coordinate systems, but the registration accuracy and reliability deteriorate due to the complexity of aligning different coordinate systems
Solution Approach 1:
The patent applies preliminary action by establishing a predefined reference frame before the actual registration process. The system pre-defines a reference coordinate system and uses known transformation matrices to relate this reference frame to the instrument coordinate system. This preliminary setup enables accurate registration without requiring complex real-time alignment procedures, thus resolving the contradiction between flexibility and reliability.
2Ease of operation
If the instrument is driven along the target path directly for registration, then the procedure is simpler, but the registration precision deteriorates due to insufficient constraint on the instrument's position and orientation
Solution Approach 1:
The patent segments the registration path into multiple distinct segments: a first path segment that does not intersect the target path and a second path segment that intersects the target path. By separating the registration process into these segments, the system can collect sufficient position and orientation data without requiring the instrument to traverse the entire target path, thereby maintaining simplicity while improving precision.
Solution Approach 2:
The patent employs asymmetry by deliberately designing the first path segment to be non-intersecting with the target path, creating an asymmetric registration trajectory. This asymmetric approach allows the instrument to sample positions and orientations from multiple distinct configurations, providing better constraints for accurate registration while keeping the overall procedure simple and straightforward.
3Measurement precision
If multiple registration parameters are tracked during instrument movement, then the registration accuracy improves, but the complexity of the registration process increases
Solution Approach 1:
The patent applies self-service by having the instrument manipulator automatically track and record its own position and orientation parameters during movement along the predefined paths. The system uses the instrument's inherent sensing capabilities to automatically collect registration data without requiring external measurement devices or complex manual procedures. This self-service approach improves registration accuracy while minimizing the added complexity of the registration process.
Data Source
AI summary
Provided are systems and methods for registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.