Needle Trajectory Uncertainty Mapping for Safe Percutaneous Access
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Solution Overview
Problem
Existing percutaneous procedures face challenges in precisely reaching target sites within internal organs like the kidney without damaging adjacent tissues, due to limitations in current imaging and tracking technologies, leading to potential surgical complications and increased procedure time.
Innovation Solution
An uncertainty map system using intraoperative ultrasound and preoperative imaging data, combined with electromagnetic tracking, to estimate and visually represent the probability of hitting adjacent organs, guiding surgeons to safe puncture paths by calculating and displaying uncertainty through a user interface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional imaging and tracking technologies are used for percutaneous procedures, then the procedure can be performed with standard equipment, but the precision in reaching target sites and avoiding adjacent tissues is insufficient
Solution Approach 1:
The patent combines multiple imaging modalities (ultrasound, CT, MRI) and tracking systems into a unified navigation platform that integrates preoperative imaging data with intraoperative real-time imaging. This merging allows the system to leverage the strengths of each modality while providing comprehensive anatomical information and precise tracking in a single integrated system, thereby improving measurement precision without requiring multiple separate complex devices.
Solution Approach 2:
The patent introduces an uncertainty map as an intermediary visual tool that mediates between the complex imaging data and the surgeon's decision-making process. The uncertainty map translates complex multi-modal imaging and tracking data into an intuitive visual representation that highlights areas of uncertainty, allowing surgeons to make more precise decisions without being overwhelmed by the underlying system complexity.
2Manufacturing precision
If complex imaging and tracking systems are implemented to improve precision, then the accuracy of needle trajectory can be enhanced, but the procedure time increases
Solution Approach 1:
The patent performs preliminary registration and fusion of preoperative imaging data (CT, MRI) with the patient's actual anatomy before the procedure begins. This pre-alignment and creation of a personalized anatomical model allows the system to quickly navigate and provide accurate guidance during the actual procedure, reducing the time needed for intraoperative adjustments while maintaining high trajectory accuracy.
Solution Approach 2:
The patent implements real-time feedback through the uncertainty map that continuously updates as the needle is advanced. This feedback mechanism provides immediate information about trajectory accuracy and potential risks, allowing surgeons to make rapid adjustments without repeated imaging scans, thereby maintaining high precision while minimizing additional procedure time.
3Reliability
If real-time tracking and imaging are used to visualize uncertainty, then the safety of percutaneous access is improved, but the device complexity and operational difficulty increase
Solution Approach 1:
The patent employs color-coded visual representations in the uncertainty map to indicate different levels of risk and uncertainty. By using intuitive color coding (e.g., red for high risk, green for low risk), the system translates complex multi-dimensional data into an easily interpretable visual format that reduces cognitive load and makes the system easier to operate while maintaining high safety standards.
Solution Approach 2:
The patent adds a visual dimension of uncertainty representation overlaid on the traditional anatomical images. By projecting uncertainty information as a visual layer (the uncertainty map) on top of the anatomical structures, the system provides comprehensive safety information without requiring surgeons to interpret multiple separate complex displays, thereby improving safety while maintaining ease of operation.
Data Source
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AI summary
Guided percutaneous uncertainty mapping device and method for providing visual representations of an uncertainty map with respect to an organ during a guided percutaneous procedure using an electromagnetic tracking (EMT) system comprising an EMT field generator and tracker, a catheter with a EMT sensor for placing in the organ to mark a percutaneous procedure target, and a needle with an EMT sensor and an electronic data processor configured for carrying out the steps of: receiving an indication of a percutaneous procedure target; receiving three-dimensional (3D) positions and orientations of the catheter and the needle tracked in real-time from the EMT system; estimating the uncertainty of the received position and orientation of the needle; estimating the uncertainty of the received position and orientation of the catheter; estimating a trajectory uncertainty of the needle departing from a current position and orientation of the needle; generating a visual representation of the estimated trajectory uncertainty and catheter uncertainty with respect to the EMT coordinate system for displaying on a user interface.