Passageway Tree Registration for Pad-Free Image-Guided Procedures
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Solution Overview
Problem
Traditional instrument tracking and referencing systems for minimally invasive medical procedures require patient pads during pre-operative and operative imaging, causing clinical disturbances and disrupting the workflow.
Innovation Solution
A device with processors that collect location data to create a passageway tree, identify non-collinear landmark locations, and register these points to model data using a seed transformation, minimizing the need for patient pads and reducing clinical disturbances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional instrument tracking and referencing systems are used, then image-guided procedures can be performed, but the clinical environment and workflow are disturbed due to requirement of patient pads during imaging
Solution Approach 1:
The patent removes the problematic patient pads from the imaging process entirely. Instead of using external pads attached to the patient's body for tracking, the system uses the medical instrument itself as the tracking object, eliminating the need for separate referencing components that disrupt the clinical environment.
Solution Approach 2:
The medical instrument serves multiple functions: it performs the medical procedure while simultaneously serving as the tracking reference object. The instrument's inherent geometric features are used for both navigation and registration purposes, combining what were previously separate functions into one unified system.
2Measurement precision
If patient pads are used for pre-operative and operative imaging, then instrument location can be tracked, but the clinical environment is disturbed
Solution Approach 1:
The harmful patient pads are extracted and removed from the system. The tracking functionality is achieved using only the medical instrument itself, eliminating the source of environmental disturbance while preserving measurement precision through the instrument's inherent geometric features.
Solution Approach 2:
The medical instrument tracks its own location and orientation using its own geometric features as reference points. The instrument is self-sufficient for tracking purposes, eliminating the need for external tracking components that would disturb the clinical environment.
3Manufacturing precision
If patient pads are required during imaging, then registration can be performed, but workflow efficiency decreases
Solution Approach 1:
The system pre-identifies geometric features of the medical instrument before the procedure begins. These features are stored and used as reference points during registration, allowing quick and accurate alignment without requiring additional setup steps or patient pads during the actual procedure.
Solution Approach 2:
The registration process is decoupled from the use of patient pads. By using the instrument's own geometric features as reference, the system achieves accurate registration without the workflow disruptions caused by pad application and removal during pre-operative and operative imaging stages.
Data Source
AI summary
Systems and methods for supporting image-guided procedures include a device having an instrument usable to collect location data for one or more passageways and one or more processors coupled to the instrument. The one or more processors are configured to organize a plurality of points within the location data based on a corresponding insertion depth of the instrument when each of the plurality of points is collected, create a passageway tree based on the points, identify at least three non-collinear landmark locations within the passageway tree, create a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data, and register, using the seed transformation, the plurality of points to the model data for the one or more passageways. In some embodiments, the at least three non-collinear landmark locations are based on a main branch point in the passageway tree.