Reference X-Ray Image Deformation for Hollow Organ Navigation
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Solution Overview
Problem
Existing methods for overlaying reference X-ray images of hollow organs with live X-ray images during minimally invasive procedures are inaccurate due to the lack of anatomical information in live X-ray images, leading to uncertainties and potential complications during interventions.
Innovation Solution
A method that adjusts a reference X-ray image of a hollow organ by incorporating dynamic haptic information, such as friction and contact forces, using multi-functional shape-sensing fibers to model the current organ profile, and a medical system to facilitate this adjustment, including a fiber optic shape-acquisition system, sensor measurements, and image processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If reference X-ray image and live X-ray image are overlaid for navigation, then instrument positioning is visualized, but anatomical deformation causes image misalignment and uncertainty
Solution Approach 1:
The reference X-ray image is segmented to identify anatomical structures of the hollow organ. This segmentation allows the system to track and deform specific anatomical regions independently, maintaining alignment accuracy despite organ deformation during the procedure.
Solution Approach 2:
Force sensor measurements from the optical fiber provide real-time feedback about contact forces and friction between the instrument and hollow organ wall. This feedback is used to dynamically adjust and deform the reference image, compensating for anatomical changes and maintaining accurate alignment throughout the procedure.
2Object-affected harmful factors
If live X-ray image alone is used for navigation, then radiation exposure is reduced, but anatomical information is insufficient for accurate positioning
Solution Approach 1:
The system merges multiple information sources: segmented reference X-ray image, live X-ray image, and force sensor measurements from the optical fiber. This combination compensates for the limitations of each individual source, providing complete anatomical information while minimizing radiation exposure by relying primarily on the live image and sensor data.
Solution Approach 2:
The optical fiber with force sensors acts as an intermediary that provides indirect anatomical information about the hollow organ's shape and position. By measuring contact forces and friction, the system infers anatomical details without requiring additional direct imaging, thus reducing radiation exposure while maintaining information accuracy.
3Ease of operation
If instrument is introduced into hollow organ, then intervention can proceed, but hollow organ deforms and reference image becomes inaccurate
Solution Approach 1:
The reference image is transformed from a static representation to a dynamic model that continuously deforms based on real-time force sensor measurements. As the instrument moves through the hollow organ and causes deformation, the reference image updates accordingly, maintaining anatomical accuracy throughout the dynamic intervention process.
Solution Approach 2:
Real-time force measurements from the optical fiber provide continuous feedback about the hollow organ's deformation state. This feedback is used to dynamically adjust the reference image, ensuring it accurately reflects the current anatomical configuration even as the instrument is introduced and the organ deforms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Provides a more accurate representation of the hollow organ's current profile, enhancing the safety and precision of interventional procedures by accounting for dynamic forces and deformations, thus reducing complications.
Implementation Method 1
more recent methods use a 3D fiber optic, which may identify the shape and position of an introduced optical fiber by intrinsic light reflections
Implementation Method 2
evaluating the sensor measurement(s) with regard to at least one item of haptic information in respect of the object, in particular a friction force and/or contact force
Data Source
AI summary
A method for adjusting a reference X-ray image includes: providing the reference X-ray image of a hollow organ; providing a segmentation of an original profile of the hollow organ in the reference X-ray image; recording at least one live X-ray image, registered with the reference X-ray image, of the object introduced into the hollow organ; segmenting the object in the live X-ray image; carrying out at least one sensor measurement of the optical fiber by the shape-acquisition system; evaluating the sensor measurement(s) with regard to at least one item of haptic information in respect of the object; setting boundary conditions for the current profile of at least part of the hollow organ using the position of the object and the evaluated item of haptic information; and adjusting and/or deforming the reference image using the boundary conditions such that a current profile of the hollow organ is modeled/reproduced.