Two-Phase Endoscope Registration for Multi-Device Lesion Localization
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Solution Overview
Problem
Current surgical procedures involving multiple endoscopic devices, such as bronchoscopy with endobronchial ultrasound (EBUS) for lung cancer diagnosis, face challenges due to the lack of effective tools for coordinating and guiding the use of these devices, leading to inaccurate lesion localization and low biopsy success rates, especially for extraluminal lesions.
Innovation Solution
A methodology and system for guiding surgical procedures using an endoscope and a second complementary device, like EBUS, by integrating virtual anatomical views and graphical cues from patient imaging scans to derive a pre-operative procedure plan, providing real-time guidance through simulated video views and registration methods to synchronize the devices accurately.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a physician uses multiple endoscopic devices (e.g., bronchoscope and EBUS probe) to examine extraluminal lesions, then the diagnostic capability for peripheral lung lesions is improved, but the coordination difficulty and procedural complexity increase significantly
Solution Approach 1:
The patent introduces a computational guidance system as an intermediary that mediates between the physician and the complex multi-device coordination task. The system processes images from multiple devices, registers them to a common coordinate system, and provides automated guidance cues that simplify the physician's coordination burden while maintaining full diagnostic capability.
Solution Approach 2:
The patent creates virtual copies of the physical devices and their coordinate systems in a computational model. By registering virtual representations of the bronchoscope, EBUS probe, and other devices to a common reference frame, the system enables precise spatial relationship reconstruction without requiring the physician to manually coordinate all devices in real-time.
2Ease of operation
If a physician manually coordinates multiple endoscopic devices without guidance tools, then the procedural flexibility is maintained, but the measurement precision of lesion localization deteriorates
Solution Approach 1:
The system continuously processes images from multiple devices, registers them to the common coordinate system, and provides real-time feedback to the physician through guidance cues. This feedback loop enables the physician to maintain procedural flexibility while achieving precise lesion localization through automated spatial relationship computation.
Solution Approach 2:
The patent performs preliminary registration of device coordinate systems and pre-computation of spatial relationships before the actual lesion examination. This preliminary action establishes an accurate computational model that guides subsequent procedures, ensuring measurement precision without restricting procedural flexibility during execution.
3Adaptability or versatility
If a physician relies on skill and dexterity to coordinate multiple devices, then the adaptability to different cases is maintained, but the reliability of lesion localization varies greatly
Solution Approach 1:
The computational guidance system performs self-service by automatically processing images, registering devices to the common coordinate system, and generating guidance cues without requiring physician intervention in the coordination process. This automation maintains case adaptability through automated image processing while significantly improving localization reliability through consistent computational methods.
4Manufacturing precision
If a guidance system integrates virtual anatomical views and graphical cues from imaging scans, then the manufacturing precision of device positioning is improved, but the device complexity and system requirements increase
Solution Approach 1:
The patent implements a universal computational platform that handles multiple functions: processing images from various device types, registering different coordinate systems, visualizing anatomical structures, and providing guidance cues. This multi-functional approach achieves high positioning precision while managing system complexity through a single integrated architecture rather than separate specialized systems.
Data Source
AI summary
A two-stage method for guiding an endoscope and second device toward a target destination near the ROI includes navigation and localization. The endoscope is navigated near the vicinity of the ROI according to a pre-procedure plan. When the ROI location is reached, the second device's tip is pushed far enough through the endoscope so that its tip is outside the endoscope and in the endoscope's video view. Then a two-phase registration mechanism is used: i. Phase 1: Align the endoscope by registering the endoscope's video to a virtual bronchoscope's simulated video stream; ii. Phase 2: Align the second device by registering the second device's shape in the endoscope's video to a virtual second device model.