Mixed 3D-2D Imaging Control for Flexible Device Targeting
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Solution Overview
Problem
Existing minimally invasive medical procedures face challenges in accurately navigating and targeting flexible elongate devices to specific anatomical structures within the body, limiting precision and efficiency.
Innovation Solution
A control system that utilizes mixed dimensionality imaging to determine a two-dimensional imaging plane for viewing movement of a flexible elongate device's distal portion, allowing for precise control of the device's movement towards a target structure based on three-dimensional and two-dimensional image analysis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If three-dimensional imaging is used to navigate flexible elongate devices, then spatial understanding and navigation capability are improved, but image acquisition time and system complexity increase
Solution Approach 1:
The imaging process is segmented into two distinct modes: 3D imaging for initial spatial mapping and contextual understanding, and 2D imaging for continuous real-time tracking. This segmentation allows the system to leverage the strengths of each imaging mode - 3D provides comprehensive spatial information while 2D provides rapid temporal updates, thereby resolving the contradiction between spatial precision and acquisition time.
Solution Approach 2:
The system performs preliminary 3D imaging to establish a complete spatial map of the anatomical structures and device positions before the main navigation procedure. This preliminary action creates a reference framework that enables subsequent 2D images to be interpreted more efficiently, reducing the time needed for real-time navigation decisions while maintaining spatial accuracy.
2Productivity
If two-dimensional imaging is used for real-time tracking, then image acquisition speed is improved, but spatial context and depth perception are lost
Solution Approach 1:
The system merges 3D and 2D imaging modalities into a unified navigation workflow. The 3D images provide the spatial context and depth perception, while the 2D images provide real-time tracking capability. By combining these modalities and displaying them in an integrated interface, the system recovers the spatial context information that would otherwise be lost in 2D imaging alone, while maintaining the high acquisition speed of 2D imaging for real-time navigation.
3Measurement precision
If mixed dimensionality imaging is implemented, then navigation precision is improved, but system complexity increases
Solution Approach 1:
The system introduces an image registration and fusion module as an intermediary that automatically aligns and integrates 3D and 2D images. This intermediary component handles the complex task of coordinate transformation and image matching, thereby reducing the operational complexity for the user while maintaining the high targeting accuracy that mixed dimensionality imaging provides. The intermediary automates the complex processes, making the system easier to use despite its underlying complexity.
4Reliability
If continuous 3D imaging is performed for real-time feedback, then navigation accuracy is improved, but radiation exposure and energy consumption increase
Solution Approach 1:
The system employs periodic 3D imaging at strategically selected moments during the procedure rather than continuous imaging. 3D images are acquired at key decision points, when anatomical landmarks are encountered, or when navigation accuracy needs verification. Between these periodic 3D acquisitions, the system relies on faster 2D imaging for continuous monitoring. This periodic approach maintains real-time feedback accuracy at critical moments while significantly reducing overall radiation exposure and energy consumption compared to continuous 3D imaging.
Data Source
AI summary
A medical system includes a manipulator assembly configured to drive a flexible elongate device, and a control system coupled to the manipulator assembly. The control system is configured to receive a three-dimensional (3D) image of a distal portion of the flexible elongate device and a target structure, determine, based on the 3D image, a two-dimensional (2D) imaging plane for viewing movement of the distal portion of the flexible elongate device from a first position captured in the 3D image to a second position that points toward the target structure, receive 2D images in the 2D imaging plane captured over time, and control the manipulator assembly to move the distal portion of the flexible elongate device from the first position to the second position based on the 2D images.