Aiming Rod Verification for Robotic Cranial Insertion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current methods for verifying the accurate placement of surgical devices in the brain, such as electrodes for Deep Brain Stimulation, face challenges in precision and efficiency, particularly in robotic surgical systems where traditional stereotactic frames are not applicable, and require improved location verification systems.
Innovation Solution
A system utilizing a head-mounted robot with a guiding sleeve and a novel aiming rod incorporating X-ray transparent apertures to align and verify the correct positioning of surgical tools, ensuring accurate placement in multiple dimensions by geometrically calculating the aiming rod's position and angle relative to the surgical tool, allowing for X-ray imaging verification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional stereotactic frames with crosshair targets are used for verification, then placement accuracy can be confirmed, but the device complexity and procedural trauma increase
Solution Approach 1:
The patent extracts the verification function from the complex stereotactic frame system by using a simple aiming rod with apertures that can be independently positioned. The aiming rod separates the verification component from the insertion system, allowing accurate placement confirmation without requiring the entire stereotactic frame apparatus.
Solution Approach 2:
The aiming rod serves as an intermediary element between the insertion system and the verification imaging system. It provides a simple geometric reference (apertures) that mediates the alignment verification process, enabling accurate placement confirmation through X-ray imaging without direct integration of complex frame structures.
2Loss of time
If probe needle insertion is performed without pre-verification of entry angle, then procedural time is reduced, but placement accuracy deteriorates requiring complete withdrawal and retry
Solution Approach 1:
The patent implements preliminary verification of the entry angle and trajectory using the aiming rod and X-ray imaging before actual probe needle insertion. This preliminary action confirms correct alignment in advance, preventing the need for complete withdrawal and retry, thus avoiding time loss while ensuring placement accuracy.
3Measurement precision
If multiple azimuthal imaging procedures are performed for three-dimensional verification, then placement accuracy is improved, but measurement complexity and time increase
Solution Approach 1:
The aiming rod serves multiple functions: it provides verification in the primary imaging plane and, when rotated about the guide sleeve axis, enables verification in additional azimuthal planes. This multi-functionality allows three-dimensional placement verification using the same simple device, reducing the need for multiple different imaging procedures and equipment setups.
4Measurement precision
If crosshair targets are mounted on stereotactic frame, then alignment verification is enabled, but the ease of operation is reduced due to complex mounting and positioning requirements
Solution Approach 1:
The aiming rod with apertures is a simple, easily manufactured component that can be quickly positioned and removed. Unlike permanent crosshair targets that require precise mounting on the stereotactic frame, the aiming rod can be temporarily positioned for verification and then discarded or reused, significantly reducing mounting and positioning complexity.
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
This system enables precise verification of surgical tool placement in three dimensions, reducing procedural trauma and complexity, and facilitating easy adjustments during robotic procedures, thereby improving the accuracy and efficiency of Deep Brain Stimulation electrode placement.
Implementation Method 1
an X-ray imager is adjusted so that an X-ray image taken through the apertures also images the target location
Data Source
AI summary
A method for verifying surgical tool placement includes attaching a guide sleeve to a surgical robot, the guide sleeve defining a guide sleeve axis; aligning the surgical robot such that the guide sleeve axis is directed at a predetermined target location; and attaching an aiming rod to the guide sleeve such that the aiming rod can rotate around the guide sleeve axis, the aiming rod having apertures along its length. The aiming rod is attached to the guide sleeve at an angle and position such that when the surgical robot is adjusted to align the guide sleeve axis with the predetermined target location, a center of each aperture of the apertures of the aiming rod and a center of the predetermined target location are collinear, independent of a rotational position of the aiming rod around the guide sleeve axis.