Autonomous Endobronchial Navigation via Lumen Centroid Alignment
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Solution Overview
Problem
Existing medical navigation systems for guiding biopsy or ablation tools to targets within the body are complex, time-consuming, and require considerable skill to avoid damaging surrounding tissue.
Innovation Solution
A surgical system that includes a controller with a processor and memory, which receives images from a camera on a surgical device, generates segmented images, identifies lumens, determines centroids, and aligns the surgical device with the centroids to navigate through the luminal network to the target tissue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual navigation of the endoscope through the luminal network is performed, then the procedure can be completed with existing technology, but the process becomes complex and time-consuming
Solution Approach 1:
The system enables autonomous endobronchial navigation where the medical device automatically navigates through the luminal network using onboard sensors, image processing algorithms, and robotic control mechanisms, eliminating the need for manual manipulation by clinicians
Solution Approach 2:
The patent replaces manual mechanical navigation with an automated system that uses electromagnetic tracking, optical imaging, and robotic actuation to control the endoscope's movement through the airways, substituting human skill with automated control algorithms
2Reliability
If manual navigation skills are used to ensure no damage is done to surrounding tissue, then safety can be maintained, but considerable skill and time are required
Solution Approach 1:
The system continuously captures images from the endoscope camera, processes them in real-time to identify lumen boundaries and centroids, and uses this feedback to automatically adjust the navigation path, ensuring the device remains centered within safe boundaries and avoids surrounding tissue
Solution Approach 2:
The patent introduces an automated control system that acts as an intermediary between the clinician's intent and the physical manipulation of the endoscope, using image processing algorithms and robotic control to mediate the navigation process and ensure tissue safety
3Measurement precision
If robotic controls are used to remotely navigate the endoscope, then precision can be improved, but the system becomes more complex
Solution Approach 1:
The system integrates multiple subsystems within a unified robotic platform, nesting the endoscope, camera, electromagnetic sensors, and actuation mechanisms within a single integrated device that can be controlled through a centralized control algorithm
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
The system enables automated and precise navigation of medical devices within the body, reducing the risk of tissue damage and improving the accuracy and efficiency of reaching target tissues.
Implementation Method 1
A locating or tracking system, such as an electromagnetic (EM) tracking system, may be utilized in conjunction with, for example, CT data, to facilitate guidance of the endoscope to the area of interest
Data Source
AI summary
A system for performing a surgical procedure includes a controller including a memory and a processor, the memory storing instructions, which when executed by the processor cause the processor to receive an image captured by a camera, generate a segmented image by applying a first threshold value to the image captured by the camera, identify a lumen within the segmented image, determine a centroid of the lumen within the segmented image, and align a portion of a surgical device operably coupled to the controller with the centroid of the lumen.