Medical Instrument Position Tracking via Strain Sensing
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Solution Overview
Problem
Current medical imaging systems struggle to accurately determine the 3D position of medical instruments within cavities, such as the heart, due to high uncertainty and increased X-ray doses, and are limited by the inability to handle the vast number of potential positions, leading to inaccurate navigation and potential damage to patient structures.
Innovation Solution
A method and system that combines 2D fluoroscopic images with strain information from force-controlled medical instruments and pre-existing 3D representations to accurately determine the 3D position of instruments within cavities, using data on applied force to adjust and refine the instrument's position, including consideration of cardiac cycles and contact with cavity walls.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two 2D images are acquired simultaneously at different angles to calculate 3D position, then measurement precision is improved, but X-ray dose increases causing harmful effects to the patient
Solution Approach 1:
The patent introduces strain information as an intermediary parameter to bridge the gap between 2D image data and 3D position determination. By measuring strain on the instrument and using it to infer position, the system avoids the need for multiple X-ray images, thus reducing X-ray dose while maintaining measurement precision
Solution Approach 2:
The patent replaces the mechanical/optical system of multiple X-ray image acquisitions with a sensing system that measures strain on the instrument. This substitution uses mechanical strain measurement instead of repeated radiographic imaging to determine 3D position, thereby reducing harmful X-ray exposure
2Object-affected harmful factors
If a single 2D image is used to determine 3D position, then X-ray dose is reduced, but measurement precision deteriorates due to high uncertainty in cavity environments
Solution Approach 1:
The patent merges multiple types of data (single 2D image, strain measurements, and cavity geometry information) to determine 3D position. By combining these different information sources, the system achieves accurate position determination in cavities using only a single X-ray image, thus maintaining low X-ray dose while improving measurement precision
Solution Approach 2:
The patent uses strain measurements as feedback to refine the 3D position calculation from the single 2D image. The strain data provides additional constraints that reduce the uncertainty inherent in single-image 3D reconstruction, enabling accurate position determination in complex cavity environments
3Measurement precision
If strain information is combined with 2D image and 3D representation to determine position, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent makes the medical instrument multi-functional by integrating both imaging capability and strain sensing capability into a single device. This universality allows the instrument to provide both visual and mechanical data for position determination, improving measurement precision without requiring separate independent systems
Solution Approach 2:
The patent creates a virtual 3D model (copy) of the cavity and instrument position that can be updated in real-time using strain data and single 2D images. This virtual copy provides accurate position information without requiring complex physical measurement systems, thereby improving precision while managing system complexity
Data Source
AI summary
A medical imaging method for the navigation of a guidable medical instrument intended to be moved inside the body of a patient, comprising: receiving at least one 2D image of a cavity of a patient, acquired by an acquisition device, for which cavity a 3D representation is available; receiving at least one data item on the force applied to the medical instrument to control a guiding of the medical instrument inside the patient's body; and combining data derived from information on applied force, the 2D image and the 3D representation to determine the position of the medical instrument.