Continuum Robot Path Planning for Tortuous Airway Navigation
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Solution Overview
Problem
Existing methods for operating articulated medical devices, such as robotic bronchoscopes, do not adequately consider the shape of the flexible shaft in assessing the difficulty of navigating tortuous pathways in a patient's anatomy, leading to potential discomfort and reduced likelihood of reaching the target with minimal invasion.
Innovation Solution
A method involving computed tomography imaging to map a pathway for a bendable medical apparatus, determine pathway deviation from a centerline, and assign a difficulty score based on deviation, using an actuation unit to bend the apparatus and control its segments for optimal navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional bronchoscopy assessment methods are used (considering only diameter and angle), then the assessment process is simple, but the accuracy of difficulty prediction is insufficient because the shape of the flexible shaft is not considered
Solution Approach 1:
The patent performs preliminary action by pre-planning multiple pathways using CT imaging data before the actual bronchoscopy procedure. The system calculates pathway deviation scores and difficulty assessments in advance, allowing the operator to select the optimal pathway before entering the patient's airway, thereby improving prediction accuracy without adding complexity to the actual procedure execution.
2Object-affected harmful factors
If a single pathway is selected for bronchoscopy, then the procedure is straightforward, but the likelihood of reaching the target with minimal patient discomfort is reduced when the pathway is tortuous
Solution Approach 1:
The system performs preliminary action by pre-calculating and ranking multiple possible pathways based on pathway deviation from the airway centerline and estimated difficulty scores. This allows the operator to select the optimal pathway in advance that minimizes patient discomfort while ensuring target reachability, rather than committing to a single pathway without prior evaluation.
Solution Approach 2:
The patent applies dynamics by enabling flexible switching between multiple pre-planned pathways during the procedure. The system adapts to actual anatomical variations and procedural progress by allowing re-evaluation and selection of alternative pathways, providing versatility in navigating tortuous airways while maintaining minimal patient discomfort.
3Shape
If the bronchoscope follows the centerline of the airway, then the pathway is straightforward, but the shape of the flexible shaft may not fit the actual tortuous passageway shape
Solution Approach 1:
The system performs preliminary action by pre-calculating the expected shape of the flexible shaft along multiple possible pathways using CT imaging data and continuum robot modeling. This allows the operator to assess how well the shaft shape will fit the actual passageway before entering, selecting pathways where the pre-calculated shaft configuration matches the anatomical geometry, thereby improving fit while maintaining ease of operation.
Data Source
AI summary
The subject disclosure is directed to methods for using an articulated medical device in treating a subject or patient, wherein the device is capable of maneuvering within the subject or patient, and the method is capable of assessing multiple pathways for reaching a desired target and assigning a difficulty score to each the various pathways.