Probe Tracking via Virtual Image Data Correlation
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Solution Overview
Problem
Minimally Invasive Surgery (MIS) techniques face challenges in accurately guiding probes within anatomical structures due to obstructed views and relative movements of anatomical structures, which affect the correlation between actual and virtual reference points, leading to inaccuracies and complexities in probe positioning.
Innovation Solution
A method and system that use probabilistic comparisons between virtual and actual image data to synchronize the position of a virtual probe with an actual probe, employing algorithms like Recursive Bayesian State Estimation and unscented particle filters to maintain synchronicity and compensate for anatomical changes, using image data from sensors like ultrasound to track the probe's location efficiently.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional electroanatomic mapping systems use external reference patches for probe positioning, then probe location can be tracked, but accuracy deteriorates due to relative movements between the external reference and internal anatomical structures
Solution Approach 1:
The patent introduces image data as an intermediary to establish a correlation between the external reference patch and internal anatomical structures. By capturing images from multiple viewpoints and creating a three-dimensional representation, the system mediates the connection between the stable external reference and the moving internal structures, allowing accurate probe positioning despite anatomical movements
Solution Approach 2:
The system continuously captures new image data during the procedure and updates the correlation between reference locations and anatomical structures in real-time. This feedback mechanism compensates for relative movements by recalibrating the spatial relationship between the external reference and internal anatomy, maintaining positioning accuracy throughout the procedure
2Measurement precision
If multiple reference patches are placed on the body surface to improve positioning accuracy, then probe location precision increases, but device complexity and procedure time increase
Solution Approach 1:
The patent transitions from two-dimensional reference patches on the body surface to a three-dimensional virtual representation of anatomical structures. By creating a volumetric model from multiple image viewpoints, the system achieves accurate spatial correlation without requiring multiple physical reference patches, reducing device complexity while maintaining precision
Solution Approach 2:
The system creates a virtual copy of the anatomical structures through image processing and three-dimensional reconstruction. This virtual model serves as a digital surrogate for physical reference patches, allowing accurate probe positioning without the complexity of placing and managing multiple external references
3Measurement precision
If image data is captured continuously to track probe position, then tracking accuracy improves, but data processing time and computational complexity increase
Solution Approach 1:
The system performs preliminary processing by pre-establishing the correlation between reference locations and anatomical structures before the actual probe positioning begins. By creating the three-dimensional anatomical model and reference correlation in advance, the system reduces real-time processing requirements during the procedure, maintaining accuracy while minimizing time loss
Data Source
AI summary
A variety of embodiments relate to systems, methods, circuits and devices are implemented to perform location-based correlations. One such embodiment relates to a circuit-implemented method for use with an actual probe within an anatomical structure. For a virtual probe at a virtual location within a model of the anatomical structure, virtual image data captured by the virtual probe is generated. The virtual image data is assessed through a probabilistic comparison of the virtual image data to actual image data captured by the actual probe at an actual location. Based upon the assessment, a correlation is updated between the actual location of the actual probe and a sensed location of the actual probe to provide synchronicity between the sensed location and actual location. For maintaining the synchronicity between a subsequently sensed location and subsequent actual location, the assessment is used to select a new virtual location for the virtual probe.