Autonomous Steerable Surgical Device Navigation via Real-Time Imaging
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Solution Overview
Problem
Current steerable surgical devices face challenges in achieving precise and accurate navigation within mammalian tissues due to unpredictable tissue properties and human error, leading to potential damage and inefficiencies in procedures like biopsy and brachytherapy.
Innovation Solution
An autonomous system and method for controlling steerable surgical devices, featuring a flexible joint between tubular elements, shape memory alloy actuators, and an imaging apparatus, which uses processor-generated transit paths and real-time imaging to guide the device to a target point without human intervention, minimizing tissue damage and avoiding obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If rigid passive needles are used for straight path insertion, then the device structure is simple and easy to manufacture, but the navigation accuracy and adaptability to tissue deformation are poor
Solution Approach 1:
The patent transforms the rigid passive needle into a dynamic active needle system with multiple degrees of freedom. The needle incorporates actuators (shape memory alloys, piezoelectric materials, or magnetic particles) that enable real-time adjustment of the needle's curvature and orientation during insertion, allowing the device to adapt dynamically to tissue deformation and reach precise target locations.
Solution Approach 2:
The patent replaces traditional mechanical steering mechanisms with non-mechanical actuation methods. Shape memory alloys use thermal fields, piezoelectric materials use electric fields, and magnetic particles use magnetic fields to control needle deflection, eliminating complex mechanical linkages and reducing device complexity while improving precision.
2Manufacturing precision
If passive bevel-tip needles are used to create curved paths, then the device structure remains simple, but the trajectory planning becomes complicated and placement accuracy decreases
Solution Approach 1:
The patent incorporates real-time feedback mechanisms where imaging systems (ultrasound, MRI, or optical cameras) continuously monitor needle position and tissue deformation. This feedback is processed by control algorithms that automatically adjust actuator commands to maintain the needle on the desired trajectory, simplifying operation while improving accuracy.
Solution Approach 2:
The patent performs preliminary trajectory planning using pre-acquired imaging data to predict tissue deformation and obstacles. The system pre-calculates the optimal insertion path and pre-positions actuators accordingly, reducing the complexity of real-time trajectory planning and improving placement accuracy.
3Adaptability or versatility
If axial rotation is used to enable 3D maneuvering with passive needles, then the device can reach more target locations, but the risk of tissue damage increases and operation becomes more difficult
Solution Approach 1:
The patent replaces static axial rotation with dynamic multi-planar bending capabilities. The active needle can independently control bending in multiple directions through distributed actuators, enabling 3D maneuvering without rotation. This reduces tissue damage by avoiding the twisting and shearing forces associated with rotational movement.
Solution Approach 2:
The patent divides the needle into multiple segmented sections, each with independent actuation capability. This segmentation allows localized bending at different positions along the needle shaft, providing fine-grained control over the needle's 3D trajectory without requiring rotation of the entire needle.
4Manufacturing precision
If active needles with actuation forces are used to compensate for misalignments, then the navigation accuracy improves, but the device complexity and manufacturing difficulty increase
Solution Approach 1:
The patent replaces complex mechanical actuation systems with fields-based actuation methods. Shape memory alloys use thermal fields, piezoelectric materials use electric fields, and magnetic particles use magnetic fields to generate actuation forces. These non-mechanical approaches simplify manufacturing by eliminating precision mechanical components while maintaining high trajectory accuracy.
Solution Approach 2:
The patent controls needle actuation by changing physical parameters such as temperature (for shape memory alloys), electric voltage (for piezoelectric materials), or magnetic field strength (for magnetic particles). These parameter changes provide continuous, programmable control over needle deflection, improving trajectory accuracy while simplifying the actuation mechanism compared to traditional mechanical systems.
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, automated navigation of steerable surgical devices through tissues, reducing human error and tissue damage by generating updated transit paths based on real-time imaging data, thereby improving the accuracy and efficiency of procedures like biopsy and brachytherapy.
Implementation Method 1
The actuation behavior of SMAs is generated when an internal crystalline transformation (e.g., between Austenite (high temperature) and Martensite (low temperature) phases) happens with application of load or heat.
Implementation Method 2
One example is disclosed by Ryu in a December 2012 Stanford University dissertation entitled 'Optically Controlled Magnetic Resonance Imaging Compatible Needle' (available online at ), which provides an active needle using internal laser heating, conducted via optical fibers of a SMA actuator to produce bending in the distal section of the needle.
Implementation Method 3
The imaging apparatus generates signals used by the at least one processor to determine position of a tip of the steerable surgical device.
Data Source
AI summary
An autonomous system and method for controlling the operation of a steerable surgical device includes multiple surgical device actuation elements, an imaging apparatus (e.g., ultrasound) arranged external to a mammalian body, and at least one processor. The processor(s) is/are configured to generate a transit path between an insertion point and a target point, control the surgical device actuation elements to advance the steerable surgical device along one or more segments of the transit path, identify deviation of position relative to the transit path utilizing signals from the imaging apparatus and generate an updated transit path, and control the surgical device actuation elements to advance the steerable surgical device along at least one segment of the updated transit path. Transit of the steerable surgical device between the insertion point and the target point may be controlled without human intervention.