Medical Instrument Navigation With Real-Time Sensor-Image Mapping
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Solution Overview
Problem
Preoperative images do not accurately reflect the spatial relationship between a medical instrument and a target during the intraoperative phase due to anatomical changes, leading to inaccurate navigation.
Innovation Solution
A method and system that generate a graphical interface depicting the spatial relationship by integrating first image data from an external imaging system with sensor data from sensors on the instrument, determining a mapping between different coordinate spaces, and updating the interface in real-time to reflect the current spatial relationship.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If preoperative images are used for navigation, then the navigation system can be established before surgery, but the spatial accuracy deteriorates due to anatomical changes during the intraoperative phase
Solution Approach 1:
The system transitions from static preoperative images to dynamic real-time imaging during surgery. The imaging system continuously captures updated anatomical data, allowing the navigation display to dynamically adjust to anatomical changes while the patient is on the surgical table, thus maintaining spatial accuracy without significant time loss.
2Measurement precision
If real-time imaging is performed during surgery, then spatial accuracy is improved, but the system complexity and procedure time increase
Solution Approach 1:
The imaging system is designed to serve multiple functions: it captures real-time anatomical data, provides updated navigation information, and integrates with the existing surgical workflow. The same imaging infrastructure supports both preoperative planning and intraoperative navigation, reducing overall system complexity despite the added real-time capability.
3Productivity
If preoperative images are used, then the procedure can start immediately, but the navigation accuracy deteriorates due to anatomical changes
Solution Approach 1:
The system performs preliminary imaging and navigation setup before surgery begins, establishing the initial coordinate mappings and surgical plan. During surgery, real-time updates are triggered only when anatomical changes are detected or at critical navigation points, allowing the procedure to maintain high speed while ensuring accuracy when needed.
Data Source
AI summary
This disclosure provides methods, devices, and systems for planning and performing medical procedures. The present implementations more specifically relate to techniques for navigating an instrument to a target within an anatomy. In some aspects, a controller for a medical system may generate a graphical interface depicting a spatial relationship between the instrument and the target and update the graphical interface to depict an updated spatial relationship between the instrument and the target based on sensor data received via a sensor disposed on the instrument and image data captured by an imaging system external to the anatomy while the instrument is disposed within the anatomy. More specifically, the controller may determine a mapping between a sensor space and an image space based on the sensor data and the image data and may determine the updated spatial relationship based on the mapping between the sensor space and the image space.