Medical Instrument Navigation with Target-Directed Rendering
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Solution Overview
Problem
Current medical instrument navigation systems face challenges in accurately targeting regions within luminal networks during medical procedures, particularly in providing real-time position and orientation feedback to aid in maneuvering the instrument.
Innovation Solution
A system comprising a medical instrument with sensors, a display, a processor, and memory storing a model of a mapped luminal network and target position, which determines the instrument's position and orientation based on sensor data and renders a view directed at the target on the display.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a medical instrument navigation system uses sensor data to determine position and orientation, then navigation accuracy is improved, but system complexity increases
Solution Approach 1:
The patent combines multiple sensors (electromagnetic sensors, shape sensors, force sensors) into an integrated sensing system that collectively determines the medical instrument's position and orientation. The control system merges data from all sensors to generate comprehensive navigation feedback, resolving the contradiction by achieving high measurement precision through sensor fusion while managing complexity through integrated system architecture.
Solution Approach 2:
The patent introduces a control system as an intermediary that processes sensor data and generates navigation feedback. This intermediary component manages the complexity of multiple sensors by providing a unified interface for position and orientation determination, thereby maintaining measurement precision while reducing the operational complexity for the user.
2Ease of operation
If real-time navigation feedback is provided to aid instrument maneuvering, then ease of operation is improved, but information processing requirements increase
Solution Approach 1:
The patent provides navigation feedback that shows the medical instrument's position and orientation relative to the target, but does not require complete real-time control of all instrument parameters. By providing partial feedback (position and orientation rather than full state information), the system improves ease of operation while reducing the energy required for information processing and display.
3Reliability
If the system determines position and orientation based on multiple sensor data types, then navigation reliability is improved, but device complexity increases
Solution Approach 1:
The patent implements a feedback mechanism where sensor data from multiple sources (electromagnetic, shape, force sensors) is continuously processed to determine medical instrument position and orientation. This feedback is provided to the user to aid in maneuvering the instrument toward the target. The feedback loop improves navigation reliability by continuously updating position information while managing complexity through efficient data processing and integration.
Data Source
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AI summary
Certain aspects relate to systems and techniques for medical instrument navigation and targeting. In one aspect, a system includes a medical instrument having an elongate body and at least one sensor, a display, a processor, and a memory storing a model of a mapped portion of a luminal network and a position of a target with respect to the model. The processor may be configured to: determine, based on data from the at least one sensor, a position and orientation of a distal end of the medical instrument with respect to the model, and cause, on at least a portion of the display, a rendering of the model, the position of the target, and the position and orientation of the distal end of the medical instrument. The rendering may be based on a viewpoint directed at the target and different from a viewpoint of the medical instrument