Multi-View Pose Estimation for Radiopaque Instrument Navigation
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Solution Overview
Problem
Current medical imaging technologies face challenges in accurately determining the pose and location of radiopaque instruments within body cavities during minimally invasive procedures, such as endoscopic surgeries, due to limitations in tracking instrument movement and identifying precise anatomical positions.
Innovation Solution
A method involving multi-view pose estimation using augmented bronchograms and geometric constraints from multiple imaging modalities, including the use of radiopaque markers, cameras, and sensors to track instrument pose changes and generate accurate images highlighting areas of interest within the body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If single-view imaging is used to track instrument position, then the system is simple, but the measurement precision of instrument pose is insufficient
Solution Approach 1:
The patent transitions from single-view 2D imaging to multi-view 3D imaging by introducing multiple imaging modalities (fluoroscopy, CT, MRI) that capture the instrument from different spatial dimensions. This dimensional expansion enables accurate 3D pose estimation by triangulating instrument position across multiple views, directly resolving the measurement precision limitation while managing complexity through integrated multi-modal processing.
Solution Approach 2:
The patent introduces radiopaque markers as intermediary objects that facilitate precise instrument tracking. These markers serve as mediators between the imaging system and the instrument, providing high-contrast reference points that can be reliably detected across multiple imaging modalities. The markers enable accurate pose estimation by serving as stable reference features for multi-view registration and triangulation.
2Measurement precision
If multiple imaging modalities are integrated for multi-view pose estimation, then the measurement precision improves, but the device complexity increases
Solution Approach 1:
The patent creates a universal multi-functional imaging system that can operate with different imaging modalities (fluoroscopy, CT, MRI) depending on the procedural needs. The system integrates multiple imaging functions into a unified platform that can selectively activate appropriate modalities, allowing high precision tracking while managing complexity through on-demand multi-functionality rather than permanent multi-modality operation.
Solution Approach 2:
The patent segments the imaging system into modular components that can be independently controlled and processed. Each imaging modality operates as a separate functional module with its own acquisition and processing pipeline, allowing the system to integrate precision benefits of multiple modalities while managing complexity through modular architecture and independent operation of each imaging subsystem.
3Measurement precision
If radiopaque markers are used for tracking, then the measurement precision improves, but the device complexity increases due to additional tracking components
Solution Approach 1:
The radiopaque markers enable the tracking system to be self-sufficient by providing intrinsic reference features that do not require external active illumination or power sources. The markers passively reflect or attenuate imaging signals, allowing the system to extract pose information directly from the markers' positions in multi-view images without additional complex tracking infrastructure, thus improving precision while limiting complexity growth.
Data Source
AI summary
The present invention is disclosing several methods related to intra-body navigation of radiopaque instrument through natural body cavities. One of the methods is disclosing the pose estimation of the imaging device using multiple images of radiopaque instrument acquired in the different poses of imaging device and previously acquired imaging. The other method allows to resolve the radiopaque instrument localization ambiguity using several approaches, such as radiopaque markers and instrument trajectory tracking.