Autonomous Catheter Navigation via Sensor Fusion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current medical navigation systems for catheters within luminal networks face challenges in accurately and efficiently guiding catheters to targets due to the cognitive burden on physicians from processing high-dimensional data, leading to increased risk of operator-related errors and limiting the system's acceptance to well-trained professionals.
Innovation Solution
The integration of machine intelligence and sensor-fusion technologies enables autonomous navigation of catheters through path-planning and path-tracking algorithms, utilizing optical and electromagnetic sensors to articulate and orient the catheter within the luminal network, aided by computing devices that receive images, detect bifurcations, and generate 3D models to guide the catheter to the target.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If physicians manually process high-dimensional navigation data to guide catheters, then navigation decisions can be made, but cognitive burden increases and operator-related errors increase
Solution Approach 1:
The system enables autonomous navigation where the catheter navigation system performs self-guidance through automated image processing, bifurcation detection, and path planning. The system processes high-dimensional data and makes navigation decisions autonomously, eliminating the need for physicians to manually interpret complex imaging data while maintaining high navigation accuracy
Solution Approach 2:
The patent replaces the human cognitive processing mechanism with automated computational algorithms. Machine learning models and image processing algorithms substitute for physician decision-making, automatically analyzing medical images, detecting anatomical features, and determining optimal catheter paths without human intervention
2Reliability
If autonomous navigation with machine intelligence is implemented, then operator errors are reduced, but system complexity increases
Solution Approach 1:
The autonomous navigation system integrates multiple functions into a single unified platform: image acquisition, image processing, bifurcation detection, 3D model generation, path planning, and catheter control. This multi-functional integration reduces the need for separate systems and devices, making the complexity manageable while achieving high navigation accuracy
Solution Approach 2:
The system introduces a computing device as an intermediary between the medical imaging system and the catheter control system. This intermediary processes data from multiple sources, generates navigation paths, and controls catheter actuation, thereby managing system complexity through modular architecture while maintaining high reliability
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 approach significantly enhances the accuracy and repeatability of catheter navigation, reducing operator-related errors and enabling broader acceptance by allowing for autonomous robotic navigation in various minimally invasive procedures.
Implementation Method 1
an optical sensor associated with a distal portion of the catheter
Implementation Method 2
an electromagnetic sensor associated with the distal portion of the catheter and configured to detect an electromagnetic field (EM)
Data Source
AI summary
A system and method for arriving at a biopsy or therapy site including receiving one or more images from optical sensor on a catheter, signaling a drive mechanism to articulate a distal portion of the catheter based on analysis of the one or more images, and determining that a distal portion of the catheter has reached a desired location.