Monoplanar X-Ray 3D Instrument Positioning via Projection Line Intersection
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Solution Overview
Problem
Current methods for determining the three-dimensional position of instruments within structures, such as blood vessels, using x-ray systems are either complex, require expensive biplanar systems, or are limited to instruments equipped with specific sensors, making precise navigation during interventional procedures challenging.
Innovation Solution
A method utilizing a monoplanar x-ray system to record a 2D image of an instrument's position within a previously recorded 3D image data set, allowing for the determination of the instrument's 3D position by projecting a line through the 3D image data based on known projection geometry, and identifying intersections to determine the instrument's spatial location within the structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a biplanar x-ray system is used to determine 3D position of instruments, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent transforms the 2D x-ray imaging problem into a 3D solution by utilizing a pre-existing 3D image data record (from CT, MRI, or 3D angiography) and registering it with the 2D x-ray images. This allows monoplanar x-ray system to achieve 3D position determination capability without requiring biplanar system complexity.
Solution Approach 2:
The patent introduces a 3D image data record as an intermediary element that bridges the gap between 2D x-ray imaging and 3D position determination. This intermediary 3D data record serves as a reference framework that enables calculation of 3D positions from 2D projections without requiring additional x-ray sources or detectors.
2Measurement precision
If electromagnetic sensors are used for localization, then 3D position can be determined, but the number of localizable instruments and sensors is restricted
Solution Approach 1:
The patent uses x-ray imaging as a copying mechanism to visualize instruments. Since x-ray images can capture any instrument that is radiopaque, this approach allows unlimited numbers of instruments to be localized simultaneously without requiring each instrument to carry specific sensors or identifiers.
Solution Approach 2:
The patent makes the x-ray imaging system universal for instrument localization. Any instrument that can be visualized on x-ray images (catheters, wires, stents, etc.) can be localized in 3D space using the same methodology, eliminating the need for instrument-specific sensors or electromagnetic properties.
3Measurement precision
If sequential recording of two x-ray images from different directions is performed, then 3D position can be determined, but time consumption increases
Solution Approach 1:
The patent performs preliminary action by acquiring a 3D image data record before the interventional procedure. This pre-acquired 3D data serves as a reference framework that eliminates the need for time-consuming sequential x-ray imaging from multiple angles during the procedure, allowing immediate 3D position determination from single 2D images.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate three-dimensional position determination of instruments within structures using a simpler and more flexible monoplanar x-ray system, allowing for precise navigation without the need for additional sensors or complex equipment, and can localize multiple instruments within the same system.
Implementation Method 1
at least one 2D x-ray image of the relevant area is recorded from at least one direction of projection with a known projection geometry with the x-ray system
Data Source
AI summary
The present invention relates to a method for determining the position of an instrument in a structure of an object with an x-ray system, in which a 3D image data record is provided for at least one area of the object relevant for determining the position, the x-ray system is registered with the 3D image data record, after the introduction of the instrument into the structure at least one 2D x-ray image of the relevant area is recorded from at least one direction of projection with a known projection geometry with the x-ray system and a 2D position of a first location of the instrument is recorded in the 2D x-ray image. In the method a projection line in accordance with the known projection geometry is placed through the 3D image data record at the 2D position and a 3D position of the first location of the instrument in the 3D image data record is determined from an intersection of the projection line with the structure. The method enables the 3D position to be determined with a simple monoplanar x-ray system.