Interventional Procedure Planning for Accessible Instrument Deployment
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Solution Overview
Problem
Current systems for deploying minimally invasive interventional instruments struggle to identify an accessible deployment location within anatomical passageways due to constraints of the instrument or anatomy, making it difficult to reach target tissue locations effectively.
Innovation Solution
A method and system that utilize a navigation planning module to identify a planned deployment location for an interventional instrument by considering both the operational capability of the instrument and patient anatomy, including factors such as bending capability, anatomical constraints, and target structure proximity, using sensor feedback to refine the location if necessary.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the deployment location is selected as the point within the modeled passageways closest to the target tissue location, then the distance to the target structure is minimized, but the accessibility of the deployment location becomes difficult given the constraints of the interventional instrument or the anatomy
Solution Approach 1:
The system performs preliminary analysis of instrument operational capabilities (bending, extending, articulating) before determining the deployment location. By pre-assessing what the instrument can physically achieve within the anatomical constraints, the system identifies deployment locations that are both close to the target and actually accessible by the instrument, avoiding the pitfall of selecting theoretically optimal but practically unreachable locations
Solution Approach 2:
The system changes the parameters used to select deployment location from simple geometric proximity to a multi-parameter evaluation that includes instrument-specific operational capabilities. By incorporating parameters such as maximum bend radius, extension length, and articulation angles into the location selection process, the system transforms the deployment location determination from a purely geometric problem to a feasibility-aware optimization problem
2Ease of operation
If the system considers operational capability constraints of the interventional instrument, then the deployment location becomes more accessible, but the distance to the target structure may increase
Solution Approach 1:
The system dynamically evaluates deployment location feasibility by simulating the instrument's movement through the anatomical passageways. Rather than using static geometric calculations, the system models the dynamic capabilities of the instrument (bending, extending, articulating) to determine which locations are actually reachable, allowing it to balance accessibility with proximity to target
3Object-affected harmful factors
If a minimally invasive approach is used to reduce tissue damage, then patient recovery time and discomfort are reduced, but the ability to reach certain target tissue locations becomes more difficult
Solution Approach 1:
The system introduces a virtual simulation environment as an intermediary between instrument selection and actual procedure execution. By creating a virtual model of the patient's anatomy and simulating instrument navigation within this model, the system can evaluate multiple instrument options and approaches without causing actual tissue damage, then select the optimal minimally invasive approach that still achieves the therapeutic goal
Data Source
AI summary
A system for performing an interventional procedure includes an interventional instrument and a control system. The control system includes a processor and a memory comprising machine-readable instructions that, when executed by the processor, cause the control system to: receive a model of an anatomic structure, the anatomic structure including a plurality of passageways; identify a target structure in the model; identify a planned deployment location for positioning a distal tip of the interventional instrument to perform the interventional procedure on the target structure; determine whether an angle of approach of the distal tip relative to a passageway wall of a passageway of the plurality of passageways at the planned deployment location is acceptable; and navigate the interventional instrument, via computer control or based on user input, to perform the interventional procedure on the target structure.