Calculus Removal Guidance System with Distance Estimation
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Solution Overview
Problem
Current methods for calculus removal, such as ESWL, PCNL, and RIRS, face challenges in accurately determining the size of calculi for safe removal, leading to potential damage to internal organs or prolonged procedures.
Innovation Solution
A system and method that provide guidance for calculus removal by displaying a guidance graphic representation overlaid on a medical image, using a basket and laser fiber, and estimating the distance between the medical tool and the camera at the distal end of the guide tube through image-based and encoder-based distance estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If current methods (ESWL, PCNL, RIRS) are used for calculus removal, then calculus removal is achieved, but accurate determination of calculus size is difficult leading to potential organ damage or prolonged procedures
Solution Approach 1:
A guidance graphic representation is introduced as an intermediary visual element that mediates between the medical image and the surgeon's decision-making. This graphic overlay provides intuitive size reference and spatial relationship information, enabling accurate calculus size determination without direct measurement, thereby improving both measurement precision and procedural safety
Solution Approach 2:
The system creates a visual copy or representation of the calculus size through the guidance graphic that is overlaid on the medical image. This graphical copy allows surgeons to visually assess calculus dimensions and spatial relationships without performing complex measurements, resolving the contradiction between accurate size determination and procedural safety
2Measurement precision
If a guidance graphic representation is displayed overlaid on a medical image, then accurate calculus size determination is enabled, but system complexity increases
Solution Approach 1:
The guidance graphic representation serves multiple functions simultaneously: it indicates calculus size, provides spatial orientation, and assists in treatment planning. By consolidating these functions into a single visual overlay, the system achieves high measurement precision without proportionally increasing device complexity
Solution Approach 2:
The system replaces complex mechanical measurement devices and manual measurement procedures with a computational imaging approach. The guidance graphic is generated through image processing and overlay techniques rather than physical measurement tools, reducing mechanical complexity while maintaining high measurement precision
3Measurement precision
If distance estimation is performed using both image-based and encoder-based methods, then precise distance estimation is achieved, but measurement complexity increases
Solution Approach 1:
The system merges two independent distance estimation methods (image-based and encoder-based) into a unified measurement approach. By combining the strengths of both methods, the system achieves high measurement precision for calculus size determination while managing complexity through integrated processing
Solution Approach 2:
The dual-method distance estimation system implements feedback mechanisms where the encoder-based method provides real-time positional feedback and the image-based method provides visual verification. This feedback loop ensures precise distance estimation while managing system complexity through coordinated operation of both methods
Data Source
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AI summary
A system and method for providing guidance according to an embodiment comprises a slave device, a processor, and a master device. The slave device includes: a guide tube, which can be inserted into the ureter, for calculus removal; a wire that can move inside the guide tube along the longitudinal axis of the guide tube; a driving unit for moving the wire; a medical tool that is connected to the distal end portion of the wire and exposed to the outside of the guide tube; and a camera that captures medical images at the distal end portion of the guide tube. The processor determines, on the basis of the estimated distance between the medical tool and the camera at the distal end portion of the guide tube, the size of a guidance graphic representation indicating the calculus size that can be gripped by a basket. The master device displays the guidance graphic representation having the determined size by overlaying the guidance graphic representation on the medical image captured by the camera and received from the slave device.