Biopsy Needle Marker Positioning Without Robotic Recalibration

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Solution Overview

Problem

Existing biopsy methods using robotic arms are costly and require recalibration for angle changes, while manual methods with auxiliary clamps rely heavily on operator experience, leading to inefficiencies and potential errors in insertion points and angles.

Innovation Solution

A biopsy needle positioning system that uses a marker fixed to the cannula, estimating its position and attitude through RGB and depth images with a trained network model to calculate accurate insertion points and angles without robotic arms.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If a robotic arm is used to provide precise insertion points and angles, then positioning precision is improved, but device cost and deployment space increase

Engineering Contradiction:

Improveinsertion point and angle precisionVSAvoidrobotic arm system complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent uses a marker as a simplified copy or representation of the complex robotic positioning system. Instead of using an expensive robotic arm, the invention attaches a marker to the biopsy needle and uses image processing to track its position, effectively copying the positioning function at much lower cost and complexity

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The patent replaces the mechanical robotic arm system with an optical-based solution. By substituting mechanical positioning components with RGB-D camera imaging and computational processing, the system achieves similar positioning precision without the complexity and cost of mechanical robotic arms

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Extent of automation

If a robotic arm is used for biopsy positioning, then automation is improved, but recalibration time increases when insertion parameters change

Engineering Contradiction:

Improvebiopsy positioning automationVSAvoidrecalibration time

Core Design Contradiction:

Extent of automationVSLoss of time

Solution Approach 1:

The marker-based system is self-contained and self-describing. The marker carries all necessary positioning information intrinsically, allowing the system to automatically determine insertion parameters without external recalibration. The marker itself serves as the reference frame, eliminating the need for separate calibration procedures when parameters change

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The marker is pre-attached to the biopsy needle before the procedure, establishing the positioning reference in advance. This preliminary attachment ensures that when the needle position changes, the marker moves with it, and the system can immediately track the new position without recalibration

Inventive Principle:

Principle #10Preliminary action

3Device complexity

If a manual auxiliary clamp is used for biopsy, then device complexity is reduced, but positioning precision and reliability decrease due to operator dependence

Engineering Contradiction:

Improveauxiliary clamp simplicityVSAvoidinsertion point and angle accuracy

Core Design Contradiction:

Device complexityVSMeasurement precision

Solution Approach 1:

The marker acts as an intermediary between the simple auxiliary clamp and the digital imaging system. It translates the physical position of the needle into visual information that can be processed by computer vision algorithms, bridging the gap between simple mechanical handling and precise digital measurement

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The patent transforms the positioning problem from manual measurement to automated visual parameter extraction. By changing from operator-based estimation to image-based parameter measurement, the system achieves higher precision while maintaining device simplicity

Inventive Principle:

Principle #35Parameter changes

4Device complexity

If operator experience is relied upon for manual biopsy positioning, then device cost is reduced, but work efficiency and positioning accuracy decrease

Engineering Contradiction:

Improvesystem simplicityVSAvoidwork efficiency

Core Design Contradiction:

Device complexityVSProductivity

Solution Approach 1:

The system provides real-time visual feedback through the marker's position tracking. The RGB-D camera continuously monitors the marker, and the processed position information feeds back to guide the biopsy procedure, enabling efficient and accurate positioning without relying on operator experience

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS20260076711A1Biopsy needle positioning system, biopsy needle positioning method, and medical device system

Publication Date: 2026.03.19 GE PRECISION HEALTHCARE LLC

AI summary

A biopsy needle positioning system, a biopsy needle positioning method, and a medical device system is described. The biopsy needle positioning system includes a marker assembly including a marker and a cannula that is fixed relative to the marker and carries a biopsy needle, an image acquisition apparatus being mounted at a position at which the marker can be photographed, and configured to acquire an RGB image of the marker and a depth image corresponding to the RGB image, and a positioning apparatus, which extracts an RGB feature and a point cloud feature of the marker based on the RGB image and the depth image of the marker by using a trained network model, and estimates an estimated position and attitude of the marker based on the RGB feature and the point cloud feature, to obtain an insertion point and an insertion angle of the biopsy needle.