Robotic Interventional System Image Registration
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Solution Overview
Problem
Current interventional procedures using medical images face challenges in accurately registering and associating pre-operative and intra-operative images within a limited time, especially when dealing with heterogeneous tumors and low-resolution images, which can lead to inaccurate biopsy and increased risk of surgical tool deviation from planned trajectories.
Innovation Solution
A system and method that utilize anatomical structure information from pre-operative images to register and associate with intra-operative images, allowing for accurate tracking of the surgical tool's location and direction in real-time, without the need for additional location trackers or sensors, by integrating image processing and robotic control to guide the tool along planned trajectories.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If pre-operative and intra-operative images are registered and associated within a limited time, then the efficiency of the interventional procedure is improved, but the accuracy of image registration deteriorates due to low-resolution images and heterogeneous tumors
Solution Approach 1:
The patent segments the tumor into multiple sub-regions based on heterogeneity characteristics, allowing separate registration and biopsy planning for each sub-region. This segmentation enables more accurate image registration by treating heterogeneous tumor areas independently, resolving the contradiction between registration speed and accuracy.
Solution Approach 2:
The patent performs preliminary image registration and tumor sub-region segmentation during the pre-operative planning phase before the actual interventional procedure. By completing these computationally intensive tasks in advance, the system achieves both high registration accuracy and procedural efficiency during the actual surgery.
2Measurement precision
If additional location trackers or sensors are added to improve tracking accuracy, then the measurement precision of surgical tool location is improved, but the device complexity increases
Solution Approach 1:
The patent utilizes the imaging system itself to provide location tracking information by registering images and identifying anatomical structures, rather than requiring separate tracking sensors. The system serves its own navigation function through image processing, eliminating the need for additional tracking devices and reducing overall system complexity.
Solution Approach 2:
The imaging system is designed to perform multiple functions: both diagnostic imaging and navigation tracking. By making the imaging system multi-functional, the patent eliminates the need for separate tracking sensors, thereby maintaining high tracking accuracy while reducing device complexity.
3Measurement precision
If biopsy is performed at multiple target points to handle heterogeneous tumors, then the diagnostic accuracy is improved, but the difficulty of the procedure increases
Solution Approach 1:
The patent automatically segments the heterogeneous tumor into multiple sub-regions with distinct characteristics, and generates corresponding biopsy trajectories for each sub-region. This automated segmentation and trajectory generation simplifies the multi-spot biopsy process, maintaining high diagnostic accuracy while reducing procedural difficulty.
Solution Approach 2:
The system provides visual feedback by displaying registered images with marked tumor sub-regions and planned biopsy trajectories, allowing the operator to verify and adjust the multi-spot biopsy plan. This feedback mechanism makes complex multi-spot biopsies more manageable and easier to perform accurately.
Data Source
AI summary
Disclosed herein is a system for an interventional procedure using medical images. The system includes: a master device configured to perform control so that a medical tool of a robot arm follows intervention trajectories; an image processing device configured to register plan images, in which a surgical plan including the intervention trajectories of the medical tool is set up, and preoperative (pre-op) images acquired at a surgical site before surgery so that the surgical plan is transferred to the pre-op images and register the pre-op images and intraoperative (intra-op) images acquired at the surgical site during the surgery; and a user interface device configured to visualize the predicted arrival location of the tip of the medical tool for a target point when the robot arm operates according to the surgical plan by using the pre-op images and the intra-op images in conjunction with the image processing device.