TEE Probe 3D Pose Detection Using Esophagus Trajectory
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Solution Overview
Problem
The challenge in 3D pose detection of a TEE probe from a single x-ray image is the ambiguity of depth, which conventional methods attempt to resolve by acquiring multiple images from different angles, but this is impractical due to equipment constraints and increased radiation dose in bi-plane systems, making real-time pose estimation during interventional procedures difficult.
Innovation Solution
The method involves determining the 3D path of the esophagus prior to the intervention and using a single x-ray image to estimate the probe's 3D location by resolving depth ambiguity with the esophagus trajectory, allowing for real-time pose determination without rotating the C-arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple x-ray images are acquired from different angles to resolve depth ambiguity, then measurement precision is improved, but device complexity and radiation dose increase
Solution Approach 1:
The 3D path of the esophagus is determined in advance from pre-acquired medical imaging data before the interventional procedure begins. This preliminary 3D anatomical information is stored and used during the procedure to resolve depth ambiguity in single-view x-ray images, eliminating the need for complex bi-plane systems during the actual intervention.
Solution Approach 2:
The invention uses a pre-acquired 3D model (copy) of the patient's esophagus from medical imaging to represent the actual anatomical path. This digital copy is then used during the procedure to map 2D x-ray probe positions to 3D locations, avoiding the need for multiple real-time x-ray acquisitions from different angles.
2Measurement precision
If multiple x-ray images are acquired from different angles to resolve depth ambiguity, then measurement precision is improved, but radiation dose increases
Solution Approach 1:
The 3D path of the esophagus is determined in advance from pre-acquired medical imaging data before the interventional procedure begins. This preliminary 3D anatomical information is stored and used during the procedure to resolve depth ambiguity in singlex-ray images, eliminating the need for complex bi-plane systems during the actual intervention.
Solution Approach 2:
Instead of acquiring multiple x-ray images from different angles (excessive action), the invention uses a single x-ray image combined with pre-acquired 3D anatomical data (partial action). The pre-acquired 3D path provides the additional spatial information needed without requiring additional radiation exposure during the procedure.
3Measurement precision
If the C-arm is rotated to acquire x-ray images from different angles, then depth ambiguity is resolved, but ease of operation deteriorates due to equipment density in the operating room
Solution Approach 1:
The 3D path of the esophagus is determined in advance from pre-acquired medical imaging data before the interventional procedure begins. This preliminary 3D anatomical information is stored and used during the procedure to resolve depth ambiguity in single-view x-ray images, eliminating the need for complex bi-plane systems during the actual intervention.
4Measurement precision
If the C-arm is rotated between different angles to acquire x-ray images for pose estimation at each time point, then measurement precision is improved, but productivity decreases due to real-time pose estimation becoming impossible
Solution Approach 1:
The 3D path of the esophagus is determined in advance from pre-acquired medical imaging data before the interventional procedure begins. This preliminary 3D anatomical information is stored and used during the procedure to resolve depth ambiguity in single-view x-ray images, eliminating the need for complex bi-plane systems during the actual intervention.
Solution Approach 2:
The invention uses a pre-acquired 3D model (copy) of the patient's esophagus from medical imaging to represent the actual anatomical path. This digital copy is then used during the procedure to map 2D x-ray probe positions to 3D locations, avoiding the need for multiple real-time x-ray acquisitions from different angles.
Data Source
AI summary
Pose of a probe is detected in x-ray medical imaging. Since the TEE probe is inserted through the esophagus of a patient, the pose is limited to being within the esophagus. The path of the esophagus is determined from medical imaging prior to the intervention. During the intervention, the location in 2D is found from one x-ray image at a given time. The 3D probe location is provided by assigning the depth of the esophagus at that 2D location to be the depth of the probe. A single x-ray image may be used to determine the probe location in 3D, allowing for real-time pose determination without requiring space to rotate a C-arm during the intervention.