Real-Time Intraoperative Segmentation for Accurate Instrument Navigation

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Solution Overview

Problem

Existing minimally invasive medical procedures face inaccuracies in anatomical segmentation, leading to incorrect modeling of patient anatomy, which can hinder navigation of medical instruments and affect the efficacy of surgical planning.

Innovation Solution

A method and system for intraoperative segmentation that uses a medical instrument with a sensing tool to correlate its position with a patient's anatomy model, updating the model in real-time based on data obtained during navigation to correct discrepancies between the model and actual anatomy.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Loss of time

If pre-operative imaging and segmentation are performed to create an anatomical model, then surgical planning can be conducted in advance, but inaccuracies in segmentation lead to incorrect modeling of patient anatomy

Engineering Contradiction:

Improvesurgical planning timeVSAvoidanatomical model accuracy

Core Design Contradiction:

Loss of timeVSMeasurement precision

Solution Approach 1:

The system performs pre-operative segmentation and creates an initial anatomical model before surgery to enable advance surgical planning. This preliminary model provides a framework for navigation, but the system is designed to recognize and correct its own limitations during the actual procedure through real-time updates.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously compares real-time sensor data from the medical instrument with the pre-existing anatomical model during navigation. When discrepancies are detected between the model and actual anatomy, the system automatically updates the model to reflect the true anatomical structures, ensuring ongoing accuracy throughout the procedure.

Inventive Principle:

Principle #23Feedback

2Measurement precision

If a detailed anatomical model is created to improve navigation precision, then instrument guidance accuracy increases, but the model may contain errors from incomplete or inaccurate segmentation

Engineering Contradiction:

Improvenavigation accuracyVSAvoidmodel correctness

Core Design Contradiction:

Measurement precisionVSReliability

Solution Approach 1:

The anatomical model transitions from a static pre-operative representation to a dynamic structure that continuously adapts during surgery. The system updates the model in real-time based on actual sensor measurements, allowing the model to evolve and correct its own inaccuracies while maintaining high navigation precision.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system performs self-correction by automatically detecting discrepancies between the pre-operative model and real-time anatomical measurements. The navigation system independently identifies and corrects segmentation errors without requiring external intervention, maintaining both accuracy and reliability throughout the procedure.

Inventive Principle:

Principle #25Self-service

3Measurement precision

If the anatomical model is updated in real-time during navigation, then model accuracy improves, but additional processing time and computational resources are required

Engineering Contradiction:

Improveanatomical model accuracyVSAvoidnavigation efficiency

Core Design Contradiction:

Measurement precisionVSProductivity

Solution Approach 1:

The system performs selective updates to the anatomical model only when and where discrepancies are detected during navigation, rather than continuously updating the entire model. This partial update approach maintains high accuracy where needed while minimizing unnecessary computational overhead and preserving navigation efficiency.

Inventive Principle:

Principle #16Partial or excessive action

4Loss of information

If comprehensive segmentation is performed to capture all anatomical structures, then model completeness improves, but segmentation errors such as omitted branches or false branches increase

Engineering Contradiction:

Improveanatomical structure completenessVSAvoidsegmentation accuracy

Core Design Contradiction:

Loss of informationVSMeasurement precision

Solution Approach 1:

The system continuously compares real-time sensor data from the medical instrument with the pre-operative anatomical model during navigation. When discrepancies are detected between the model and actual anatomy, the system automatically updates the model to reflect the true anatomical structures, ensuring ongoing accuracy throughout the procedure.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The navigation system independently identifies and corrects segmentation errors without requiring external intervention, maintaining both accuracy and reliability throughout the procedure.

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS12458206B2Systems and methods for intraoperative segmentation

Publication Date: 2025.11.04 INTUITIVE SURGICAL OPERATIONS INC

AI summary

A system comprises a medical instrument including a sensing tool and comprises a processing unit including one or more processors. The processing unit is configured to receive data related to a patient anatomy from the sensing tool while the medical instrument traverses the patient anatomy. The processing unit is further configured to construct an anatomic model of the patient anatomy from the data received from the sensing tool. The processing unit is further configured to generate an image of the anatomic model for display and register a position of the medical instrument to the anatomic model.