Robotic Tactile Sensor for Medical Imaging Motion Compensation
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Solution Overview
Problem
Medical imaging of moving anatomical structures is plagued by inconsistencies due to patient movement, leading to artifacts and inaccuracies in 2D-2D-3D registration, which can result in incorrect diagnoses and procedures during interventions.
Innovation Solution
A method utilizing a robotic device with a kinematic chain and tactile connection to the patient to acquire and evaluate movement and positional data, allowing for gated imaging and motion compensation, thereby maintaining accurate image data recording independent of patient movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the patient moves during imaging recording, then the imaging can capture the natural state of the patient, but the recorded image data becomes inconsistent and artifact-cluttered
Solution Approach 1:
The system continuously measures the patient's position and movement using sensors (e.g., breathing belts, navigation devices) and feeds this information back to the imaging system. This feedback loop enables real-time adjustment of imaging parameters or patient positioning to maintain accurate target positions despite movement, thereby reducing artifacts while preserving natural state imaging
Solution Approach 2:
The patent introduces intermediate devices such as breathing belts, navigation devices, and position sensors that mediate between the patient's movement and the imaging system. These intermediaries measure and communicate position information, allowing the system to compensate for movement without directly restraining the patient, thus maintaining imaging accuracy while minimizing artifacts
2Reliability
If the patient is restrained to prevent movement, then image consistency is improved, but patient comfort and natural physiological functions are compromised
Solution Approach 1:
The patent replaces mechanical restraint systems with sensor-based measurement and computational compensation systems. Instead of physically restraining the patient to prevent movement, the system uses sensors to measure movement and computationally adjusts the imaging data or guidance information, thereby maintaining image consistency without compromising patient comfort or physiological functions
3Measurement precision
If additional devices are added to track patient movement, then movement measurement accuracy is improved, but device complexity and cost increase
Solution Approach 1:
The patent makes existing devices serve multiple functions. For example, navigation devices originally designed for surgical guidance are also used to track patient movement during imaging. Breathing belts used for monitoring respiratory functions simultaneously provide movement information for image registration. This multi-functionality improves measurement precision without significantly increasing device complexity
Solution Approach 2:
The system combines movement measurement functionality with existing imaging and navigation equipment. Rather than adding separate dedicated tracking devices, the patent integrates movement sensing capabilities into the existing surgical and imaging workflow, merging multiple functions into unified systems to reduce overall complexity
4Loss of information
If 2D-2D-3D registration is performed with patient movement, then comprehensive anatomical information is obtained, but registration accuracy deteriorates due to target position changes
Solution Approach 1:
The system performs periodic updates of position information during the imaging and registration process. By continuously or periodically measuring patient position and updating the registration transformation accordingly, the system maintains accurate target positions throughout the 2D-2D-3D registration process, ensuring both comprehensive information capture and high registration accuracy
Solution Approach 2:
The patent performs preliminary measurement and documentation of patient position at the time of imaging, before any surgical intervention begins. This preliminary position information is stored and used as the reference for subsequent registration, allowing accurate 2D-2D-3D matching even when patient position changes during the procedure, thus maintaining both information completeness and registration precision
Data Source
AI summary
A method for recording image data of a moving, (e.g., cyclically moving), region of interest of a patient by a medical imaging system with an X-ray source and an X-ray detector, wherein a robotic device with a kinematic chain of moving components has a tactile connection with the patient, and wherein, the tactile connection is maintained at least for a prespecified period. The method includes acquiring measured values by sensors of the robotic device, evaluating the measured values and forwarding to the medical imaging system, wherein the evaluated measured values include information on the movement and/or position of the region of interest, and irradiation of the region of interest by the radiation source and recording of image data of the irradiated region of interest by the X-ray detector, and wherein the evaluated measured values are used to actuate the imaging system.