Surgical Navigation Registration Update via Anatomical Landmark Detection
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Solution Overview
Problem
Existing surgical navigation systems face challenges with CT to body divergence during procedures like bronchoscopic navigation, where the shape of lungs changes, requiring time-consuming and radiation-exposing realignment using X-ray images.
Innovation Solution
A surgical navigation system that includes a catheter and a computing device capable of navigating through luminal networks, capturing images, and dynamically updating registration between the catheter's location data and pre-operative CT data by detecting anatomical landmarks, calculating coordinates, and adjusting for differences greater than a predetermined threshold.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If new X-ray images are captured during navigation to realign CT data with patient anatomy, then registration accuracy is improved, but radiation exposure increases and procedural time increases
Solution Approach 1:
The patent introduces an intermediary registration update mechanism that uses detected anatomical landmarks and coordinate transformations as mediators between the pre-operative CT data and intraoperative anatomy. Instead of directly capturing new X-ray images for realignment, the system uses intermediate calculations based on detected node coordinates and threshold-based divergence assessment to update registration, thereby avoiding unnecessary radiation exposure while maintaining accuracy
Solution Approach 2:
The system enables self-service registration updates by automatically detecting anatomical landmarks, calculating coordinate differences, and performing registration updates based on predetermined thresholds without requiring external X-ray imaging. The navigation system itself generates the necessary correction data through image depth sensing and coordinate analysis, making the system self-sufficient for maintaining registration accuracy
2Measurement precision
If new X-ray images are captured during navigation to realign CT data with patient anatomy, then registration accuracy is improved, but procedural time increases
Solution Approach 1:
The system performs preliminary registration using pre-operative CT data and planned node coordinates before navigation begins. During navigation, it continuously monitors coordinate differences against predetermined thresholds and only performs updates when divergence exceeds thresholds, rather than continuously imaging. This preliminary action approach avoids time-consuming repeated X-ray captures while maintaining accurate registration
Solution Approach 2:
The system skips unnecessary registration updates by comparing coordinate differences against predetermined thresholds. When the difference between detected and expected node coordinates is within acceptable ranges, the system rushes through without performing time-consuming X-ray image capture and realignment, only intervening when actual divergence requires correction
3Measurement precision
If continuous monitoring of coordinate differences is performed to maintain registration accuracy, then navigation precision is improved, but computational complexity increases
Solution Approach 1:
The system applies local quality monitoring by focusing computational resources on specific anatomical landmarks (nodes) rather than continuously analyzing entire volumetric datasets. It detects coordinates of specific detected nodes and compares them against expected coordinates from the CT-based navigation plan, applying threshold-based filtering locally at each node position. This localized approach maintains high navigation precision while reducing overall computational complexity
Data Source
AI summary
A surgical navigation system includes a navigation catheter and a computing device. The computing device is configured to register data detected by a sensor in a luminal network to CT data of the luminal network, and detect when the catheter is located at a node of the luminal network. The computing device is further configured to determine coordinates of the detected node, determine a difference between the determined coordinates of the node and expected coordinates of the node, and determine if the difference between the determined coordinates and the expected coordinates is greater than a predetermined threshold.