Medical Probe Registration with Staged Anatomic Model Alignment
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Solution Overview
Problem
Registering an anatomic model generated from pre-operative or intra-operative images to real-time image data in medical procedures is computationally expensive and time-consuming, leading to uncertainty in image-guided procedures.
Innovation Solution
A medical system and method that includes processors to register probe data and anatomic models to image data through multiple registration steps, generating a first, second, and third registration between different device spaces to improve accuracy and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If direct registration between anatomic model and real-time image data is performed, then registration accuracy is improved, but computational cost and time consumption increase
Solution Approach 1:
The patent segments the registration process into two distinct stages: first registering the anatomic model to pre-operative or intra-operative images, then registering real-time image data to the anatomic model. This segmentation divides a computationally intensive single-step registration into manageable steps, reducing overall computational cost and time while maintaining registration accuracy through the use of the anatomic model as a stable reference framework
Solution Approach 2:
The anatomic model serves as an intermediary between pre-operative/intra-operative images and real-time image data. Instead of directly registering real-time images to the anatomic model (which is computationally expensive), the system first establishes the anatomic model from initial images, then uses this model as a mediator to register subsequent real-time image data, reducing computational burden while maintaining accuracy
2Measurement precision
If direct registration between anatomic model and real-time image data is performed, then registration accuracy is improved, but computational cost increases
Solution Approach 1:
The registration process is segmented into computationally lighter steps: generating the anatomic model from initial images, then registering real-time images to this pre-computed model. This segmentation reduces the computational cost of each individual registration operation compared to performing a full direct registration between all image sets and the anatomic model simultaneously
Solution Approach 2:
The anatomic model is generated and registered to initial images in advance (preliminarily) before the actual surgical procedure begins. This preliminary action allows the computationally intensive model generation to be completed beforehand, reducing real-time computational costs during the procedure while maintaining registration accuracy
3Use of energy by moving object
If multi-step registration is performed, then computational cost is reduced, but registration complexity increases
Solution Approach 1:
The anatomic model serves multiple functions: it acts as a reference framework for registering both pre-operative/intra-operative images and real-time image data, and provides a stable coordinate system for transforming between different imaging modalities. This multi-functionality simplifies the overall system architecture despite the multi-step process, as the anatomic model handles multiple registration tasks uniformly
Data Source
AI summary
Techniques related to registration for a medical procedure include a medical system having one or more processors. The one or more processors are configured to perform operations including determining an initial registration between a probe device space and an imaging device space, the probe device space being associated with a probe device coupled to the medical system, the imaging device space being associated with an imaging device coupled to the medical system; receiving imaging data from the imaging device; generating a predicted projection of the probe device relative to the image data based on the initial registration; and updating the initial registration by comparing the predicted projection to an actual projection of the probe device in the image data to generate a first registration between the probe device space and the imaging device space