CN-115380309-B - Mitigating registration data oversampling

Abstract

Systems and methods for mitigating over-sampling of data points collected by a medical device are disclosed. In some aspects, the system is configured to receive data points of a sampling checkpoint cloud detected by a sensor of the medical device during an examination of the anatomical structure, determine at least one parameter associated with (i) the medical device and/or (ii) the received data points detected by the sensor during the examination, including a change in translational and/or rotational motion of the medical device, a distance from the data points to nearest neighbors within the sampling checkpoint cloud, or a density of data points of a subset of the sampling checkpoint cloud corresponding to a sub-region of the anatomical structure, analyze the one or more parameters by comparing the one or more parameters to a threshold, and record individual data points in the registration point cloud when the analyzed one or more parameters satisfy the respective threshold.

Inventors

• T.D. Super

Assignees

• 直观外科手术操作公司

Dates

Publication Date

20260512

Application Date

20210318

Priority Date

20200327

Claims (20)

1. 1. A system for mitigating oversampling of data points, the system comprising: A medical device comprising a sensor, wherein the medical device is insertable into an anatomic passageway of a patient such that the sensor is operable to detect one or both of positioning and movement of the medical device upon insertion into the anatomic passageway, and A computing device in communication with the medical device, the computing device comprising a processor, and a memory coupled to the processor and storing instructions that, when executed by the processor, cause the system to perform operations comprising: Receiving data points detected by the sensor of the medical device, the received data points being associated with one or both of a detected position and a detected motion of the medical device; analyzing the received set of data points to determine a motion parameter associated with a movement or positioning change of the sensor of the medical device in a region of the anatomic passageway, wherein determining the motion parameter comprises determining a change in translational or rotational motion of the sensor; comparing the change in translational or rotational movement of the sensor with a threshold to determine whether to accept each respective data point of the set of data points when the change in translational or rotational movement of the sensor meets the threshold or reject each respective data point of the set of data points when the change in translational or rotational movement of the sensor does not meet the threshold, and The accepted set of data points is recorded in a checkpoint cloud that can be used to register the medical device in anatomical reference frame space.
2. 2. The system of claim 1, wherein the sensor is configured to generate one or both of positioning sensor data and motion sensor data during data sampling of the anatomical passageway of the patient, wherein the positioning sensor data is associated with one or more positioning of the medical device within the anatomical passageway, and wherein the motion sensor data is associated with one or both of the translational motion and the rotational motion of the medical device within the anatomical passageway.
3. 3. The system of claim 1 or claim 2, wherein the change in one or both of the translational and rotational movement of the sensor comprises a change in one or more of (i) a roll value, (ii) a pitch value, or (iii) a yaw value.
4. 4. The system of claim 1 or claim 2, wherein the threshold comprises a motion value or a range of motion values associated with one or both of the translational motion and the rotational motion of the sensor.
5. 5. The system of claim 1 or claim 2, wherein the system is configured to perform further operations comprising creating a registration between the accepted set of data points in the checkpoint cloud and image data points derived from a previously acquired image of the anatomical passageway of the patient.
6. 6. A system for mitigating oversampling of data points, the system comprising: A medical device comprising a sensor, wherein the medical device is insertable into an anatomic passageway of a patient such that the sensor is operable to detect one or both of positioning and movement of the medical device upon insertion into the anatomic passageway, and A computing device in communication with the medical device, the computing device comprising a processor, and a memory coupled to the processor and storing instructions that, when executed by the processor, cause the system to perform operations comprising: receiving data points detected by the sensor of the medical device, the received data points being associated with the detected location of the medical device; Identifying a first data point of the received data points; Determining, in real-time during receipt of the data point, a distance parameter associated with a distance between the first data point and one or more nearest neighbors of the first data point; Comparing the distance parameter in real-time with a threshold value during receipt of the data points to determine whether to accept the first one of the received data points when the distance parameter meets the threshold value or reject the first one of the received data points when the distance parameter does not meet the threshold value, and During receipt of the data points, the accepted data points are recorded in real-time in a checkpoint cloud that can be used to register the medical device in anatomical reference frame space.
7. 7. The system of claim 6, wherein the threshold comprises a distance value or a range of distance values.
8. 8. The system of claim 6, wherein the received data point is initially recorded in the checkpoint cloud and recording the accepted data point in the checkpoint cloud includes deleting rejected data points that do not meet the threshold.
9. 9. The system of any of claims 6-8, wherein the system is configured to perform further operations comprising storing the received data points in a temporary storage device and deleting rejected data points from the temporary storage device that do not meet the threshold.
10. 10. The system of any of claims 6-8, wherein the system is configured to perform further operations comprising creating a registration between recorded non-rejected data points in the checkpoint cloud and image data points derived from previously acquired images of the anatomical passageway of the patient.
11. 11. A system for mitigating oversampling of data points, the system comprising: A medical device comprising a sensor, wherein the medical device is insertable into an anatomic passageway of a patient such that the sensor is operable to detect one or both of positioning and movement of the medical device upon insertion into the anatomic passageway, and A computing device in communication with the medical device, the computing device comprising a processor, and a memory coupled to the processor and storing instructions that, when executed by the processor, cause the system to perform operations comprising: receiving data points detected by the sensor of the medical device, the received data points being associated with the detected location of the medical device; Analyzing the received data points to determine a density parameter associated with a density of one or more data points from nearest neighbor data points, wherein the density parameter is determined by calculating a set of nearest neighbor distances for each of the one or more data points; comparing the density parameter to a threshold to determine whether to accept the one or more of the analyzed data points when the density parameter meets the threshold or reject the one or more data points when the density parameter does not meet the threshold, and The accepted data points are recorded in a checkpoint cloud that can be used to register the medical device in anatomical reference frame space.
12. 12. The system of claim 11, wherein the threshold comprises a density value or a range of density values.
13. 13. The system of claim 11, wherein the received data point is initially recorded in the checkpoint cloud and recording the accepted data point in the checkpoint cloud includes deleting rejected data points that do not meet the threshold.
14. 14. The system of any of claims 11-13, wherein the system is configured to perform further operations comprising storing the received data points in a temporary storage device and deleting rejected data points from the temporary storage device that do not meet the threshold.
15. 15. The system of any of claims 11-13, wherein the system is configured to perform further operations comprising creating a registration between recorded non-rejected data points in the checkpoint cloud and image data points derived from previously acquired images of the anatomical passageway of the patient.
16. 16. A system for mitigating oversampling of data points, the system comprising: A medical device comprising a sensor, wherein the medical device is insertable into an anatomic passageway of a patient such that the sensor is operable to detect one or both of positioning and movement of the medical device upon insertion into the anatomic passageway, and A computing device in communication with the medical device, the computing device comprising a processor, and a memory coupled to the processor and storing instructions that, when executed by the processor, cause the system to perform operations comprising: receiving data points detected by the sensor of the medical device, the received data points being associated with the detected location of the medical device; Analyzing the received data points to determine a density parameter associated with a density of one or more data points from the nearest neighbor data point; Comparing the density parameter to a threshold to determine whether to change a weighting value of the one or more data points within the analyzed data points; Changing the weighting value of the one or more data points when the density parameter meets the threshold value, and The data points are recorded to register the medical device in anatomical reference frame space.
17. 17. The system of claim 16, wherein the threshold comprises a density value or a range of density values.
18. 18. The system of claim 16, wherein changing the weighting value comprises normalizing the weighting value.
19. 19. The system of any of claims 16-18, wherein the system is configured to perform further operations comprising creating a registration between recorded non-rejected data points and image data points derived from a previously acquired image of the anatomical passageway of the patient.
20. 20. The system of any of claims 16-18, wherein the anatomic passageway comprises a lung airway passageway of a lung.

Description

Mitigating registration data oversampling Cross Reference to Related Applications This patent document claims priority and benefit from U.S. provisional patent application No. 63/001,169 entitled "MITIGATION OF REGISTRATION DATA OVERSAMPLING" filed on 3/27/2020. The entire contents of the above-mentioned patent applications are incorporated herein by reference as part of the disclosure of this patent document. Technical Field The present disclosure relates to systems, apparatuses, methods, and computer program products for registering an instrument and an image reference frame. Background Minimally invasive medical techniques aim to reduce the amount of tissue damaged during a medical procedure, thereby reducing patient recovery time, discomfort, and adverse side effects. Such minimally invasive techniques may be performed through natural orifices in the patient anatomy or through one or more surgical incisions. Through these natural orifices or incisions, the operator may insert a minimally invasive medical tool to reach the target tissue location (location). Minimally invasive medical tools include instruments such as therapeutic, diagnostic, biopsy, and surgical instruments. A medical tool may be inserted into the anatomic passageway and directed (navigate) toward a region of interest within the patient's anatomy. Image-assisted guidance of anatomic passageways may be used. There is a need for improved systems and methods to accurately perform registration between images of medical tools and anatomic passageways. Disclosure of Invention Devices, systems, methods, and computer program products are disclosed for mitigating over-sampling of data points collected by a medical device when directed to a particular region of an anatomy to examine the anatomy (such as the airways in the lung and bronchial regions), for example, prior to a medical procedure. In some embodiments, for example, a system for mitigating oversampling of data points includes a medical device including a sensor, wherein the medical device is insertable into an anatomical passageway of a patient such that the sensor is operable to detect one or both of a position and a movement of a medical instrument when inserted into the anatomical passageway, and a computing device in communication with the medical device, the computing device including a processor, and a memory coupled to the processor and storing instructions that, when executed by the processor, cause the system to perform operations including receiving a data point detected by the sensor of the medical device, the received data point being associated with one or both of the detected position and the detected movement of the medical device, analyzing the received set of data points to determine a motion parameter associated with movement or a change in position of the sensor in a region of the anatomical passageway, wherein the motion parameter includes one or both of a translational movement and a rotational movement of the sensor, comparing the motion parameter to a threshold to determine whether to accept the set of data points when the motion parameter meets the threshold, rejecting the set of data points when the motion parameter does not meet, and registering the set of data points in the spatial reference system in the anatomical passageway. In some embodiments, for example, a system for mitigating oversampling of data points includes a medical device including a sensor, wherein the medical device is insertable into an anatomical passageway of a patient such that the sensor is operable to detect one or both of a location and a movement of a medical instrument when inserted into the anatomical passageway, and a computing device in communication with the medical device, the computing device including a processor, and a memory coupled to the processor and storing instructions that when executed by the processor cause the system to perform operations including receiving a data point detected by the sensor of the medical device, the received data point being associated with a detected location of the medical device, analyzing the received data point to determine a distance parameter associated with a distance between the data point and one or more nearest neighbors of the data point, comparing the distance parameter to a threshold to determine whether to accept one of the received data points when the distance parameter meets the threshold or reject one of the received data points when the distance parameter does not meet the threshold, and registering the accepted data point in a checkpoint available to register the medical device in a reference frame space. In some embodiments, for example, a system for mitigating oversampling of data points includes a medical device including a sensor, wherein the medical device is insertable into an anatomical passageway of a patient such that the sensor is operable to detect one or both of a positioning and a movement of a medical instrument