Robotic Catheter X-ray Imaging System with Auxiliary Sensor Fusion
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Solution Overview
Problem
Existing X-ray imaging systems for robotic catheters expose patients to high doses of radiation and struggle to accurately determine the position and orientation of flexible catheters with unknown torque, making precise navigation challenging.
Innovation Solution
An X-ray imaging system that uses a processor to analyze two-dimensional X-ray image data and auxiliary information items, such as catheter curvature and force feedback signals, to determine the three-dimensional orientation and position of the catheter, reducing the need for additional radiation and improving precision by rendering images and providing feedback for robotic catheter navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If bi-planar fluoroscopic imaging system is used to determine catheter position and orientation, then measurement precision is improved, but patient radiation dosage increases significantly
Solution Approach 1:
The system segments the imaging task into two parts: a single bi-planar fluoroscopic image for initial catheter projection detection, and auxiliary information (from sensors, force feedback, or pre-acquired 3D models) for determining catheter curvature and pose. This segmentation allows accurate 3D localization without requiring multiple high-dose fluoroscopic scans.
Solution Approach 2:
The system introduces auxiliary information as an intermediary to bridge the gap between 2D fluoroscopic images and 3D catheter localization. This intermediary data (from sensors, force feedback, or pre-scans) provides curvature and pose information that enables accurate 3D reconstruction from a single 2D image, eliminating the need for additional radiation exposure.
2Loss of information
If traditional fluoroscopy-based navigation is used for flexible catheter, then catheter position can be visualized, but reliability decreases due to unknown torque and flexibility effects
Solution Approach 1:
The system incorporates force feedback signals and sensor data as feedback mechanisms to continuously update the catheter model. This feedback loop allows the system to adjust for unknown torque and flexibility effects by comparing expected catheter behavior with actual sensor measurements, thereby improving reliability of position and orientation assessment.
Solution Approach 2:
The system changes the parameters used for catheter localization from purely image-based 2D coordinates to a comprehensive model incorporating curvature, pose, and orientation parameters derived from auxiliary information. This parameter transformation enables accurate 3D reconstruction that accounts for catheter flexibility and unknown torque conditions.
3Measurement precision
If multiple three-dimensional scans are performed to account for catheter curvature and orientation, then measurement precision improves, but radiation dosage and procedure time increase
Solution Approach 1:
The system performs preliminary action by acquiring a single bi-planar fluoroscopic image and auxiliary information at the beginning of the procedure. This preliminary data capture, combined with real-time sensor feedback, provides sufficient information for continuous 3D catheter localization without requiring multiple repeated scans during the procedure, thereby reducing both time and radiation exposure.
Data Source
AI summary
The invention addresses the problem of correctly positioning a catheter and reducing radiation doses. It relates to an X-ray imaging system (1) for a robotic catheter, comprising said catheter (3), and a processing unit (5) for receiving X-ray images of a patient environment (15). By being adapted to receive one or more auxiliary information items and using said information for determining the catheter position, the processing unit does not entirely have to rely on a large number of scanned image data, thus helping to reduce radiation while correctly delivering the catheter position as a function of as few as a single image, preferably 2D, and said one auxiliary information items. Further, said processing unit allows for at least one of rendering an image and provide said image to a visualization device (21), and providing feedback, e.g. steering commands, to said robotic catheter.