Registered Fluoroscopic Imaging for Accurate Instrument Navigation
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Solution Overview
Problem
Existing minimally invasive medical procedures face challenges in accurately navigating medical instruments due to the inability of fluoroscopic images to capture high-quality images of certain tissues, while pre-operative or intra-operative static images lack real-time information, necessitating a method to register real-time fluoroscopic and prior-time static images for enhanced navigation.
Innovation Solution
A computing system registers the fluoroscopic frame of reference with an anatomic model frame of reference by identifying positions of anatomic landmarks and matching indicator portion positions, allowing constrained actuation of medical instruments within the patient anatomy based on real-time fluoroscopic images.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If fluoroscopic images are used for real-time navigation, then real-time imaging capability is improved, but image quality for certain tissues deteriorates
Solution Approach 1:
The patent merges fluoroscopic images with pre-operative CT or MRI images to create a composite navigation system. The fluoroscopy provides real-time temporal information while the pre-operative images provide high-quality anatomical detail, combining the strengths of both imaging modalities to overcome their individual limitations
Solution Approach 2:
The patent uses an image registration process as an intermediary to align and integrate fluoroscopic images with pre-operative anatomical models. This registration acts as a mediator that transfers spatial information between the two imaging systems, enabling accurate navigation despite the limitations of fluoroscopic image quality
2Measurement precision
If pre-operative static images are used for navigation, then image quality is improved, but real-time information capability deteriorates
Solution Approach 1:
The patent performs preliminary image registration and anatomical model creation before the surgical procedure begins. This preliminary action prepares the high-quality pre-operative images for real-time navigation by pre-aligning them with the fluoroscopic coordinate system and pre-segmenting relevant anatomical structures
Solution Approach 2:
The patent transforms static pre-operative images into a dynamic navigation system by continuously updating the position of medical instruments relative to the pre-operative anatomical model using real-time fluoroscopic data, making the static images dynamically relevant throughout the procedure
3Measurement precision
If frame of reference registration is performed, then navigation accuracy is improved, but system complexity deteriorates
Solution Approach 1:
The system uses automatically detected anatomical landmarks and feature-matching algorithms to perform self-registration of the fluoroscopic and pre-operative image frames. This self-service approach reduces the need for manual registration operations by the surgeon, simplifying the user interface while maintaining high navigation accuracy
Data Source
AI summary
A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.