Multiple Vision System Registration for Precise Instrument Pose
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Solution Overview
Problem
Existing minimally invasive medical procedures face challenges in accurately registering multiple visualization systems to enhance clinician understanding of interventional instrument location and pose, often resulting in inaccurate placements due to insufficient sensor information and anatomical movement.
Innovation Solution
A method and system that generates a three-dimensional model of an anatomic region, identifies true and virtual tissue structures, and matches them to determine the probe pose, using a combination of endoscopic image capture, position sensors, and virtual navigation systems to achieve precise registration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If multiple visualization systems are used to assist clinician guidance, then understanding of instrument location and pose is improved, but registration accuracy deteriorates due to insufficient sensor information and anatomical movement
Solution Approach 1:
The patent combines multiple visualization systems (endoscopic camera, position sensor, virtual navigation system) into an integrated registration system. The endoscopic image capture probe merges visual information with position sensor data, while the processor integrates these multiple data streams to generate registered images that display both true and virtual images in alignment, thereby improving clinician understanding while maintaining registration accuracy through fusion of multiple information sources.
Solution Approach 2:
The processor acts as an intermediary that receives data from multiple visualization systems and performs image registration by identifying corresponding features between true and virtual images. This intermediary processing layer transforms raw data from different systems into registered output images, resolving the contradiction by mediating between the multiple information sources and the final displayed result.
2Measurement precision
If multiple visualization systems are integrated, then navigation precision is improved, but system complexity increases
Solution Approach 1:
The processor is designed as a multi-functional device that performs multiple tasks: receiving endoscopic images, receiving position sensor data, identifying features in both true and virtual images, performing image registration, and generating registered output images. This universal processor consolidates what would otherwise require separate dedicated devices, thereby improving navigation precision while managing system complexity through functional integration.
Solution Approach 2:
The patent merges multiple visualization functions into a single integrated system where the processor handles image capture, position tracking, feature identification, and registration operations. By combining these functions into one coordinated system rather than separate independent systems, the patent achieves high navigation precision while controlling overall system complexity through unified architecture.
Data Source
AI summary
A system comprises one or more processors and a memory storing computer-readable instructions that, when executed by the one or more processors, cause the system to receive image data as an elongate medical instrument traverses a patient anatomy. The image data is received by a visualization system. The instructions further cause the system to receive sensor data regarding a position of the elongate medical instrument. The sensor data is received from a sensor system of the elongate medical instrument. The instructions further cause the system to determine a first estimated position of the elongate medical instrument within the patient anatomy based on the image data, determine a second estimated position of the elongate medical instrument within the patient anatomy based on the sensor data, and determine a position of the elongate medical instrument based on the first estimated position and the second estimated position.