Image-Guided Surgery Registration Without Patient Pads
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Solution Overview
Problem
Traditional instrument tracking and referencing systems often require the use of patient pads during pre-operative and operative imaging and can disturb the clinical environment or workflow, necessitating the development of minimally invasive medical procedures that minimize such disturbances.
Innovation Solution
A method involving the segmentation of first modality image data to generate a set of points, determining matches between second modality points, and performing registrations using a point set registration algorithm to align measured points with model points, thereby eliminating the need for patient pads and maintaining a clear surgical environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional instrument tracking and referencing systems are used, then instrument position can be monitored, but patient pads are required which disturb the clinical environment and workflow
Solution Approach 1:
The patent extracts and removes the patient pad component from the instrument tracking system. Instead of using external pads attached to the patient, the system uses image data from pre-operative imaging (CT, MRI, PET) to create a digital model and perform registration, thereby eliminating the harmful effect of pads disturbing the clinical environment while maintaining tracking reliability
Solution Approach 2:
The patent replaces the mechanical patient pad-based tracking system with an image-based registration system. By substituting physical pads with digital image processing and point-set registration algorithms, the system eliminates the need for physical components that disturb the clinical environment while achieving accurate instrument positioning through computational methods
2Ease of operation
If patient pads are used for instrument referencing, then instrument position can be correlated with patient anatomy, but the surgical environment becomes cluttered and workflow is disrupted
Solution Approach 1:
The patent creates a digital copy of the patient's anatomy through image segmentation and model generation from pre-operative imaging data. This virtual model serves as the reference framework for instrument tracking, replacing the need for physical pads in the surgical environment. The copying approach simplifies the surgical environment while maintaining the ability to correlate instrument positions with patient anatomy through software-based registration
3Manufacturing precision
If pre-operative imaging with patient pads is performed, then anatomical model can be created, but the imaging process is interrupted and time is lost
Solution Approach 1:
The patent performs all necessary imaging and model creation actions before the surgical procedure begins. Pre-operative CT, MRI, or PET scans are acquired and processed to create the anatomical model in advance. The registration is then performed by matching points from the pre-acquired image data with points from intra-operative imaging, eliminating the need for time-consuming pad-based imaging interruptions during surgery
Data Source
AI summary
A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches and displayed on a display.