Concentric Tube Probe Control System for Surgical Navigation

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Solution Overview

Problem

Concentric tube probes used in minimally invasive surgery face challenges due to their complex kinematics and the need for intuitive control to avoid anatomical obstacles, which complicates safe and accurate guidance during surgical procedures.

Innovation Solution

A system for interactive-rate motion planning of concentric tube probes, including a display interface and control system that uses a roadmap planner and tip error corrector to generate and execute collision-free motion plans in real-time, allowing physicians to focus on tip control while the system automatically avoids obstacles, utilizing a 3D mouse and augmented reality for user input and feedback.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a concentric tube probe is used to reach difficult-to-reach sites through curved paths, then the ability to access remote anatomical sites is improved, but the complexity of controlling the probe increases due to complex kinematics

Engineering Contradiction:

Improveability to reach difficult-to-reach sitesVSAvoidcomplexity of controlling the probe

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent introduces a motion planning system as an intermediary between the operator and the concentric tube probe. This system includes a roadmap planner that precomputes collision-free paths and a controller that executes these paths, mediating the complex kinematic control tasks and presenting a simplified interface to the operator.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system performs preliminary motion planning by precomputing a roadmap of collision-free configurations and transitions before actual probe operation. This advance preparation stores valid motion sequences that can be rapidly executed during surgery without real-time computation delays.

Inventive Principle:

Principle #10Preliminary action

2Reliability

If real-time motion planning is implemented to avoid obstacles, then the safety of the procedure is improved, but the computational time required increases

Engineering Contradiction:

Improvesafety of the procedureVSAvoidcomputational time required

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent combines offline roadmap computation with online path selection and execution. The computationally intensive roadmap generation is performed beforehand, while the real-time operation involves only selecting and following pre-validat ed paths, merging the benefits of both precomputation and adaptive control.

Inventive Principle:

Principle #5Merging (Combining)

3Adaptability or versatility

If the physician manually controls the probe to avoid obstacles, then the ability to respond to anatomical variations is improved, but the difficulty of operation increases due to unintuitive kinematics

Engineering Contradiction:

Improveability to respond to anatomical variationsVSAvoiddifficulty of operation

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The system enables the probe to serve itself by automatically computing and executing collision-free paths to the desired tip position. The motion planning algorithm independently handles obstacle avoidance and kinematic constraints, freeing the operator from manually managing these complex control aspects.

Inventive Principle:

Principle #25Self-service

4Object-affected harmful factors

If collision avoidance is enforced during probe manipulation, then the safety of surrounding structures is improved, but the productivity of the surgical procedure decreases

Engineering Contradiction:

Improvesafety of surrounding structuresVSAvoidproductivity of the surgical procedure

Core Design Contradiction:

Object-affected harmful factorsVSProductivity

Solution Approach 1:

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system dynamically selects and executes appropriate paths from the precomputed roadmap based on real-time surgical conditions and operator intent. The controller adapts the motion execution speed and path selection to maintain both safety and procedural efficiency.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS10846928B2Methods, systems, and computer readable media for controlling a concentric tube probe

Publication Date: 2020.11.24 THE UNIV OF NORTH CAROLINA AT CHAPEL HILL

AI summary

Systems for controlling concentric tube probes are disclosed. In some examples, the system includes a concentric tube position display interface and a control system. The concentric tube display interface includes a display for displaying visual feedback to a user indicating a position (and possibly orientation) of a tip of a concentric tube probe and a user input device for receiving user input from the user designating a goal position (and possibly orientation) for the tip of the concentric tube probe. The control system is configured for interactive-rate motion planning of the concentric tube probe by creating, in real-time or near real-time, a motion plan to move the tip of the concentric tube probe to the goal position (and possibly orientation) while avoiding contact by the concentric tube probe with one or more obstacles and for configuring the concentric tube probe as specified by the motion plan.