Shape Sensing Medical Navigation Registration
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Solution Overview
Problem
Current registration systems for surgical interventions, particularly in minimally invasive procedures, are time-consuming, cumbersome, and error-prone, especially when dealing with flexible instruments and changes in surgical equipment positions, due to the need for point-by-point landmark acquisition and alignment of electromagnetic field generators with the surgical table coordinate system.
Innovation Solution
A shape sensing registration system that uses a shape sensing device (SSD) with position sensors to determine the shape of a path traversed within a registration fixture, allowing for coordinate registration by matching the sensed shape to known shapes, thereby simplifying the alignment of disparate coordinate systems without requiring explicit knowledge of the device base's position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If point-by-point landmark acquisition is used for registration, then coordinate systems can be aligned, but the process becomes time-consuming and cognitively demanding
Solution Approach 1:
The patent replaces the mechanical manual landmark acquisition process with an automated image processing system. The system automatically detects anatomical landmarks in preoperative images and matches them with intraoperative images, eliminating the need for manual point-by-point landmark acquisition while maintaining registration accuracy.
Solution Approach 2:
The registration system performs self-alignment by automatically identifying corresponding landmarks in different images and computing the transformation matrix without requiring manual intervention. The system serves itself by autonomously completing the registration process that previously required operator input.
2Reliability
If re-registration is performed due to changes in surgical equipment or subject position, then navigation accuracy can be maintained, but the process becomes cumbersome and disruptive to workflow
Solution Approach 1:
The system enables continuous registration by automatically detecting landmarks in real-time during surgery. When equipment or subject position changes, the system continuously updates the registration without interrupting the surgical workflow, maintaining navigation accuracy while ensuring operational continuity.
Solution Approach 2:
The system performs preliminary landmark detection and registration setup before surgery begins. Preoperative images are processed in advance to identify anatomical landmarks, so that when surgery starts, the registration is already established and can be quickly updated if needed, minimizing disruptions to the workflow.
3Adaptability or versatility
If EM field generator position is unknown, then flexibility in workspace setup is maintained, but coordinate alignment with surgical table becomes difficult
Solution Approach 1:
The patent introduces an intermediary registration process that uses anatomical landmarks as a mediator between the EM field generator and the surgical table coordinate systems. Instead of directly aligning the EM generator with the table, the system uses detected anatomical landmarks to establish a common reference frame, simplifying the alignment process while maintaining flexibility in workspace setup.
Data Source
AI summary
A registration system for medical navigation includes a shape sensing device (SSD) (104, 504) having at least one sensor (450, 505) for providing corresponding sensor information (SI) indicative of at least one of a position of the at least one sensor (450, 505); a registration fixture (106) having a channel (130) configured to receive at least part of the SSD and defining a registration path (P). The registration fixture may be configured to be attached to a registrant object (RO) (119) defining a workspace. A controller (110) may be configured to: sense a shape of a path traversed by the SSD based upon the SI when the at least one sensor is situated within the channel (130), determine whether the sensed shape of the path corresponds with a known shape selected from one or more known shapes, and perform a coordinate registration based upon the determination.