Luminal Instrument Tracking With Location Transform Smoothing
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Solution Overview
Problem
Existing robotically-enabled medical systems experience sudden changes or jumps in instrument position when transitioning between modeled and unmodeled portions of a luminal network, causing disorientation for physicians during procedures like bronchoscopy.
Innovation Solution
Implementing a location transform to adjust position sensor-based estimates, using a combination of preoperative model data and position sensor data to smooth transitions and maintain consistent positional display.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the localization system uses different data inputs for different portions of the luminal network, then the system can handle both preoperative model data and real-time sensor data, but the determined position may suddenly change or jump causing physician disorientation
Solution Approach 1:
The patent introduces a location transform as an intermediary mechanism that mediates between different data input sources (preoperative model data and real-time sensor data). This transform smoothly transitions between coordinate systems and data representations, preventing sudden position jumps while maintaining the ability to adapt to different data sources. The location transform acts as a buffer that reconciles differences between data inputs rather than allowing direct switching.
Solution Approach 2:
The system dynamically adjusts the location transform based on the instrument's position and the available data inputs. Rather than using a fixed transformation, the system continuously adapts the transform parameters to match the current operational context, enabling smooth transitions between different data sources while maintaining position stability. This dynamic adjustment prevents discontinuities in the displayed position.
2Reliability
If the localization system switches between different data inputs during instrument movement, then the system can maintain tracking throughout the luminal network, but the position determination may vary due to altered data inputs
Solution Approach 1:
The system performs preliminary actions by pre-calculating and storing location transforms for different portions of the luminal network before the actual tracking begins. These pre-computed transforms are based on the preoperative model and expected instrument paths. When switching data inputs during tracking, the system can immediately apply the appropriate pre-computed transform, ensuring continuity and maintaining measurement precision without interruption or sudden jumps.
3Stability of the object's composition
If the system uses a single consistent data input source, then the position display remains stable, but the system cannot handle transitions between modeled and unmodeled portions of the luminal network
Solution Approach 1:
The patent segments the luminal network into different portions or zones, each associated with specific data input sources and location transforms. The preoperative model covers certain portions while real-time sensor data covers others. The system divides the tracking space into segments and applies appropriate transforms for each segment, enabling comprehensive coverage while maintaining stability within each segment. This segmentation allows the system to handle both modeled and unmodeled portions effectively.
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AI summary
Methods and systems for instrument tracking and navigation are described. In one embodiment, the system may be configured to receive position sensor data from at least one position sensor tracking an instrument positioned within a luminal network and determine a position sensor-based estimated state derived from the sensor data. The system may be configured to determine a combined estimated state for the instrument based on the position sensor data and at least one other type of position data. The system may be configured to determine a location transform based on the combined estimated state and the position sensor-based estimated state and output an estimated state of the instrument based on the position sensor-based estimated state adjusted by the location transform.