Continuum Robot Path Editing for Targeted Anatomical Navigation
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Solution Overview
Problem
Conventional endoscopic systems require multiple instruments and skilled operators to navigate through complex anatomical pathways, leading to cumbersome procedures and delayed completion due to the need for partial undocking and reusing prior path data for navigation.
Innovation Solution
A continuum robot with independently manipulatable bendable sections that stores and edits location data to optimize navigation paths, allowing for improved guidance through anatomical structures based on prior path data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional endoscopic systems are used with manual control, then operators can navigate through anatomical pathways, but the procedures become cumbersome and time-consuming due to required partial undocking and reusing prior path data
Solution Approach 1:
The system performs preliminary actions by automatically navigating the endoscope along previously recorded paths during subsequent procedures. The controller stores navigation data from initial manual procedures and automatically replays these paths, eliminating the need for operators to manually navigate through the same anatomical pathways repeatedly, thus reducing procedure time and increasing productivity
2Adaptability or versatility
If multiple instruments and skilled operators are used for navigation, then complex anatomical pathways can be accessed, but the complexity of the procedure increases and requires more hands
Solution Approach 1:
The system enables self-service by automatically navigating the endoscope using stored path data without requiring continuous manual intervention. The controller autonomously controls the endoscope's movement along predefined paths, reducing the need for multiple operators and simplifying the overall system complexity while maintaining the ability to access complex anatomical pathways
3Ease of operation
If manual control of endoscope and instruments is required, then dexterous tasks can be performed, but four hands are needed and highly skilled endoscopists are required
Solution Approach 1:
The system replaces manual mechanical control with automated electronic control. The controller electronically stores and replays navigation paths, substituting the need for manual mechanical manipulation by operators. This automation reduces operator skill requirements and improves ease of operation while maintaining precise navigation capabilities through complex anatomical pathways
Data Source
AI summary
The present disclosure relates to an apparatus and method for steering a continuum robot through an anatomy, including receiving an identification of a first target location; inserting the continuum robot into the anatomy; steering, during a first navigation, the continuum robot along a first path toward the first target location; storing, in a memory, location data of a plurality of points along the first path; receiving a selection of at least two points of the plurality of points; editing location data of the selected at least two points; and steering, during a second navigation, the continuum robot along a second path toward a second target location, with the second path differing from the first path based on the edit of the location data of the selected at least two points.