Surgical Instrument Navigation via Dual 3D Image Registration
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Solution Overview
Problem
Current navigation systems in interventional radiology require a reference marker within the imaged volume for accurate guidance of surgical instruments, which limits the ability to reduce the irradiated volume and increases imaging time and X-ray dose.
Innovation Solution
A system that obtains a first 3D medical image with a reference marker and a second 3D medical image without the marker, registering both images to determine a virtual position of the surgical instrument, allowing navigation within a smaller imaged volume, reducing X-ray dose and imaging time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a reference marker is included in the imaged volume to enable navigation, then navigation accuracy is improved, but the imaged volume must be enlarged and X-ray dose increases
Solution Approach 1:
The patent segments the imaging process into two distinct phases: a first 3D medical image acquired with the reference marker for navigation setup, and a second 3D medical image acquired without the reference marker for actual surgical guidance. This segmentation allows the reference marker to be excluded from the final navigation image, reducing X-ray dose while maintaining navigation accuracy through the use of the initial marker-based image for registration.
2Measurement precision
If a reference marker is included in the imaged volume to enable navigation, then navigation accuracy is improved, but the acquisition time increases
Solution Approach 1:
The patent divides the imaging workflow into separate acquisition phases: initial 3D imaging with the reference marker for navigation setup, followed by subsequent 3D imaging without the marker for surgical guidance. This segmentation enables the system to use the pre-acquired marker-based image for registration, allowing the actual surgical navigation to proceed with faster, marker-free imaging.
Solution Approach 2:
The reference marker is attached to the patient's body and the first 3D medical image is acquired in advance, before the actual surgical navigation begins. This preliminary action establishes the navigation reference frame, allowing subsequent imaging and navigation to proceed without requiring the marker to be present in the imaged volume, thereby reducing acquisition time.
3Object-affected harmful factors
If the imaged volume is reduced to lower X-ray dose, then radiation safety is improved, but the reference marker cannot be detected for navigation
Solution Approach 1:
The patent segments the navigation information source from the real-time imaging volume. The reference marker is used only in the initial 3D image acquisition phase, while subsequent navigation is performed using a second 3D image that excludes the marker. The system registers these two images to maintain navigation capability without requiring the marker to be present in the reduced-dose imaging volume.
4Measurement precision
If a first 3D medical image with reference marker and a second 3D medical image without marker are both acquired, then navigation accuracy is maintained, but the system complexity increases
Solution Approach 1:
The patent introduces an image registration process as an intermediary step that bridges the first 3D medical image (with reference marker) and the second 3D medical image (without marker). This registration mechanism allows the system to maintain navigation accuracy by mapping coordinates between the two images, enabling the second image to be used for navigation despite the absence of the reference marker.
Data Source
AI summary
The invention relates to a system for navigating a surgical instrument (1), comprising a processor configured for:obtaining a first 3D medical image of a first volume (V1) of a patient's body, said first volume (V1) comprising a reference marker (M),registering the first 3D image with said reference marker (M),obtaining a second 3D medical image of a second volume (V2) of the patient's body, said second volume (V2) being different from the first volume (V1) and not containing the reference marker (M) in its entirety, said first and second 3D images being obtained by a single imaging device,registering the second 3D medical image with the first 3D medical image,obtaining a virtual position of the surgical instrument (1) with respect to the reference marker (M) from a tracking system,determining a virtual position of the surgical instrument (1) with respect to the second 3D medical image.