Shape Sensor Deformation Compensation for Surgical Instrument Registration
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Solution Overview
Problem
Minimally invasive medical procedures face challenges in accurately and efficiently registering surgical instruments within dynamic and densely structured patient anatomy, due to the time-consuming and processing-intensive nature of navigating anatomical passageways.
Innovation Solution
A method and system utilizing a shape sensor and processor to generate models of anatomical passageways, adjusting these models based on the shape of a medical device within, and creating images that reflect the device's position and shape in varying anatomical states, such as during breathing cycles, to enhance registration accuracy and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional navigation methods are used to register surgical instruments within anatomical passageways, then comprehensive anatomical mapping can be achieved, but the process becomes time-consuming and processing-intensive
Solution Approach 1:
The system performs preliminary actions by pre-acquiring anatomical images and creating a 3D model of the anatomical passageways before the surgical procedure begins. This pre-processing allows the navigation system to have a ready-made reference framework, eliminating the need for time-consuming intra-procedural mapping and registration operations.
Solution Approach 2:
The invention creates a virtual copy or digital twin of the anatomical passageways through 3D modeling from pre-acquired images. This virtual model serves as a reference that can be continuously compared with the actual instrument position detected by shape sensors, enabling rapid registration without repeated physical mapping.
2Measurement precision
If detailed anatomical mapping is performed to improve navigation accuracy, then instrument positioning precision increases, but processing complexity and time requirements increase
Solution Approach 1:
The system extracts only the essential geometric features and boundary definitions from the anatomical passageways to create a simplified 3D model. This extracted model contains the necessary information for navigation while removing redundant processing complexity, allowing accurate instrument positioning without exhaustive anatomical detail processing.
Solution Approach 2:
The navigation process is segmented into distinct phases: pre-procedural 3D model creation from anatomical images, intra-procedural shape sensing of the instrument, and real-time comparison/registration. This segmentation allows complex processing to be performed offline before surgery, while intra-procedural processing remains simple and rapid.
3Measurement precision
If real-time shape sensing is implemented to track device position, then navigation accuracy improves, but system complexity and data processing requirements increase
Solution Approach 1:
The system replaces complex mechanical tracking systems with optical field-based shape sensing. Shape sensors embedded in the catheter utilize magnetic field interactions to determine spatial configuration, eliminating the need for complex mechanical markers or reflective beads while achieving high-positioning accuracy through software-based field analysis.
Data Source
AI summary
A non-transitory machine-readable media storing instructions that, when run by one or more processors, cause the one or more processors to store a deformable model of anatomic passageways of a patient anatomy. The deformable model comprises a plurality of model passageway links connected at connection points, and each of the model passageway links includes a centerline. At each respective connection point, the corresponding passageway links include an orientation. The instructions further cause the one or more processors to modify the deformable model by modifying relative orientations of one or more model passageway links of the plurality of model passageway links. The modifying is based on one or more modeling parameters that affect a shape of the plurality of model passageway links.