Registration Point Cloud Filtering for Medical Device Oversampling
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Solution Overview
Problem
Existing registration techniques for minimally invasive medical procedures are prone to oversampling data points due to user-driven manipulation of medical instruments, leading to inaccuracies in registering medical instruments with patient anatomy, especially in regions where the instrument is overdriven, causing undue weighting and misalignment.
Innovation Solution
Implement a computer-implemented method that analyzes sensor and data point parameters in real-time, comparing them to thresholds to determine whether to accept or reject data points, using motion, distance, or density-based criteria to mitigate oversampling, and record only acceptable data points in a registration point cloud.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the medical device is steered to particular regions for surveying, then the coverage of the anatomic structure is improved, but oversampling of data points occurs leading to inaccuracies in registration
Solution Approach 1:
The system performs preliminary analysis of data point parameters (motion, distance, density) before final registration to identify and mitigate oversampled regions. By pre-processing the data to detect oversampling conditions and applying correction factors or rejection criteria, the system prevents registration inaccuracies before they occur, resolving the contradiction between comprehensive coverage and registration precision.
2Quantity of substance
If more data points are collected by steering the medical device, then the surveying coverage is improved, but undue weighting and misalignment occur in overdriven regions
Solution Approach 1:
The system implements feedback mechanisms by continuously monitoring data point parameters (motion, distance, density) and comparing them against thresholds. When oversampling conditions are detected, the system provides feedback to adjust data collection or apply correction factors, ensuring that registration reliability is maintained despite collecting a large quantity of data points for comprehensive coverage.
3Measurement precision
If the sensor detects continuous data during device manipulation, then the positional information is improved, but oversampling occurs due to user-driven manipulation
Solution Approach 1:
The system changes parameters by analyzing multiple characteristics of data points (motion, distance, density) rather than relying on a single parameter. By evaluating multiple parameters simultaneously and applying threshold-based filtering, the system maintains high positional information quality while improving data collection efficiency by rejecting only the necessary oversampled points rather than collecting and processing all points equally.
Data Source
AI summary
Disclosed are systems and methods for mitigating oversampling of data points collected by a medical device. In some aspects, a system is configured to receive data points of a sampled survey point cloud detected by a sensor of the medical device during surveying of an anatomic structure; determine, during the surveying, at least one parameter associated with (i) the medical device and/or (ii) the received data points detected by the sensor, including a change of translational and/or rotational motion of the medical device, a distance from a data point to a nearest neighbor within the sampled survey point cloud, or a density of the data points of a subset of the sampled survey point cloud corresponding to sub-region of the anatomic structure; analyze the parameter(s) by comparing it to a threshold; and record individual data points in a registration point cloud when the analyzed parameter(s) satisfies the respective threshold.