Autonomous Lumen Centering for Endobronchial Access Devices
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Solution Overview
Problem
Manual navigation of endoscopes through luminal networks is complex, time-consuming, and requires significant skill to avoid damaging surrounding tissue and ensuring accurate placement.
Innovation Solution
A surgical system comprising an extended working channel with a drive mechanism for articulating its distal end, a catheter with a camera and EM sensor, and a workstation that processes real-time images to determine the catheter's location and orientation, align it with luminal centers, and adjust tension to facilitate safe navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual navigation of endoscope through luminal network is performed, then flexibility and adaptability are maintained, but navigation complexity and time consumption increase significantly
Solution Approach 1:
The system enables autonomous navigation where the EWC self-adjusts its distal end position and orientation using a drive mechanism controlled by a processor. The processor determines the current position and orientation, compares it with the desired trajectory, and automatically articulates the distal end to follow the planned path, eliminating the need for complex manual manipulation while maintaining adaptability to luminal geometry
Solution Approach 2:
The patent replaces manual mechanical navigation with an automated system combining sensors (EM sensors, inertial measurement units), processors for trajectory calculation, and drive mechanisms with motors or shape memory alloys. This substitution of manual mechanical control with automated sensor-processing-actuation systems dramatically reduces navigation time while maintaining precision
2Measurement precision
If manual navigation skills are enhanced to ensure accurate placement, then navigation precision improves, but operator skill requirements and training complexity increase
Solution Approach 1:
The system continuously monitors the EWC's position and orientation using EM sensors and inertial measurement units, compares real-time data with the desired trajectory, and automatically adjusts the distal end position. This closed-loop feedback control ensures high placement accuracy without requiring operators to possess advanced manual navigation skills
Solution Approach 2:
The autonomous navigation system performs self-correction by automatically adjusting the EWC's position and orientation based on real-time sensor data and pre-planned trajectories. The system independently handles alignment and positioning tasks, eliminating the need for highly skilled manual manipulation while maintaining consistent placement accuracy
3Stability of the object's composition
If the distal end of EWC is kept tense for stable positioning, then positioning stability improves, but risk of tissue damage increases when contacting lumen walls
Solution Approach 1:
The system dynamically adjusts the tension in the EWC based on real-time conditions. The processor monitors the EWC's position, trajectory, and surrounding anatomy, automatically modulating drive mechanism tension to maintain stability during navigation while reducing tension when proximity to lumen walls is detected, thereby preventing tissue damage
Solution Approach 2:
The closed-loop control system continuously monitors EWC position and orientation relative to the luminal network and pre-planned trajectory. When the EWC approaches lumen walls or deviates from the safe path, the system provides feedback to reduce tension and prevent contact, while maintaining adequate tension for stable positioning during straightforward navigation segments
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 precise and efficient navigation of medical devices through luminal networks, reducing the risk of tissue damage and improving the accuracy of reaching target areas.
Implementation Method 1
a catheter including a camera and an electromagnetic (EM) sensor
Data Source
AI summary
A system for performing a surgical procedure includes an extended working channel (EWC) having a drive mechanism, a catheter having a camera and an electromagnetic sensor, and a workstation including a memory storing instructions, which when executed by a processor cause the processor to determine a location and an orientation of a distal end of the EWC, receive real-time images of the patient's anatomy from the camera, identify a centerpoint of a lumen within the received real-time images, articulate the distal end of the EWC using the drive mechanism to align the distal end of the EWC with the identified centerpoint, and instruct the drive mechanism to reduce tension on the distal end of the EWC to permit the distal end of the EWC to deflect when contacting walls of the lumen if a diameter of the lumen approximates an outer diameter of the EWC.