Intra-body Probe Tracking via Fluoroscopic Movement Compensation
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Solution Overview
Problem
Existing intra-body probe tracking systems face inaccuracies due to patient movement, which can exceed the compensation capabilities of magnetic tracking systems, necessitating time-consuming recalibration and disrupting medical procedures.
Innovation Solution
A method and apparatus that utilize fluoroscopic images to measure and correct the position of intra-body probes by tracking the movement of hard tissue anchor points, allowing for real-time resynchronization of the tracking frame of reference without the need for recalibration, using a combination of magnetic tracking and fluoroscopic imaging systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If magnetic tracking system compensation is used for patient movement, then tracking accuracy is maintained for small movements, but the system fails when patient movement exceeds the compensation threshold, requiring time-consuming recalibration
Solution Approach 1:
The patent replaces the mechanical/magnetic tracking system with an optical imaging system (fluoroscopy) for movement detection. Instead of relying on magnetic field-based position sensing that requires recalibration when thresholds are exceeded, the system uses fluoroscopic images to visually track and measure patient movement, eliminating the need for recalibration and maintaining continuous tracking accuracy.
Solution Approach 2:
The patent introduces fluoroscopic imaging as an intermediary system between the patient and the tracking measurement. The fluoroscopy system captures patient movement visually, and this visual information serves as a mediator to calculate and compensate for position changes in the intra-body probe, allowing accurate tracking without direct reliance on the magnetic tracking system's compensation limits.
2Measurement precision
If fluoroscopic imaging is used to measure patient movement, then continuous tracking accuracy is maintained without recalibration, but the system complexity increases due to integration of multiple imaging and tracking systems
Solution Approach 1:
The patent makes the fluoroscopic imaging system multi-functional by using it for both its primary diagnostic/imaging purpose and as a movement detection tool for tracking compensation. This universal use of existing imaging infrastructure eliminates the need for separate dedicated movement sensing equipment, reducing overall system complexity while maintaining tracking accuracy.
Solution Approach 2:
The patent merges the fluoroscopic imaging system with the intra-body probe tracking system, combining two previously separate functions into an integrated solution. By merging these systems, the patent creates a unified workflow where a single imaging system serves dual purposes, reducing the number of independent subsystems and simplifying the overall architecture.
Data Source
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AI summary
A method includes receiving a position of an intra-body probe inserted into an organ of a living body in a first coordinate system. Fluoroscopic images of the body are received. A movement of the body in the fluoroscopic images is measured in a second coordinate system. The received position of the intra-body probe in the first coordinate system is corrected using the movement identified in the second coordinate system.