Location Sensor Registration for Accurate Luminal Tool Mapping
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Solution Overview
Problem
Current surgical robotic systems face challenges in registering the location sensor coordinate system with the model coordinate system, which is essential for accurately determining the position of medical tools within a patient's luminal network during procedures like bronchoscopy, due to the lack of alignment between the two coordinate systems.
Innovation Solution
The system provides a method to register the location sensor coordinate system with the model coordinate system by driving the instrument along a first branch outside the target path, tracking registration parameters, and then returning to and driving along a second branch within the target path, using location data from sensors to determine the registration between the two coordinate systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional registration methods are used without predefined reference frames, then the system can operate with flexible coordinate systems, but the accuracy and reliability of location determination deteriorates
Solution Approach 1:
The patent applies preliminary action by establishing predefined reference frames and calibration targets before the actual medical procedure. The system performs preliminary registration by positioning calibration targets at known locations and using these pre-established references to accurately determine the coordinate transformation between the location sensor system and the patient anatomy model, thereby ensuring reliability before use.
Solution Approach 2:
The patent uses calibration targets as intermediaries to bridge the coordinate systems. These targets serve as mediators that have known positions in both the location sensor coordinate system and the patient anatomy model coordinate system, enabling accurate registration through their predefined reference positions without requiring direct alignment of the entire coordinate systems.
2Measurement precision
If complex alignment procedures are used to register coordinate systems, then the accuracy of location determination improves, but the ease of operation and time required deteriorates
Solution Approach 1:
The system performs self-service registration by automatically detecting calibration targets and computing the coordinate transformation without requiring complex manual alignment procedures. The automated detection and computation algorithms handle the registration process independently, reducing the operational complexity while maintaining high measurement precision through algorithmic accuracy rather than manual skill.
Solution Approach 2:
The patent replaces complex mechanical alignment procedures with automated computational algorithms. Instead of requiring physical manipulation and manual alignment of coordinate systems, the system uses image processing and computational geometry to automatically determine the registration, substituting mechanical operations with computational methods that are both simpler to operate and maintain high precision.
3Reliability
If multiple calibration targets are used to improve registration accuracy, then the reliability improves, but the device complexity and setup time increases
Solution Approach 1:
The patent applies local quality by using multiple calibration targets positioned at specific known locations within the field of view. Each target provides localized calibration information, and their distributed positions enable the system to accurately determine the complete coordinate transformation. This localized approach to calibration maintains reliability while keeping each individual target simple and the overall setup manageable.
Solution Approach 2:
The system uses visual copies or representations of calibration targets that can be detected by the location sensors. These targets create detectable patterns or signatures that the system can recognize and use for registration, allowing multiple calibration references to be incorporated without proportionally increasing physical complexity, as they are detected through their visual or signal characteristics rather than requiring complex physical integration.
Data Source
AI summary
Provided are systems and methods for registration of location sensors. In one aspect, a system includes an instrument and a processor configured to provide a first set of commands to drive the instrument along a first branch of the luminal network, the first branch being outside a path to a target within a model. The processor is also configured to track a set of one or more registration parameters during the driving of the instrument along the first branch and determine that the set of registration parameters satisfy a registration criterion. The processor is further configured to determine a registration between a location sensor coordinate system and a model coordinate system based on location data received from a set of location sensors during the driving of the instrument along the first branch and a second branch.