Robotic Navigation of Curved Medical Tips Using X-Ray Feedback
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Solution Overview
Problem
Robotic systems face challenges in accurately navigating medical objects with curved tips within hollow organs, such as vascular systems, due to uncertainty in the alignment of the curved tip relative to the organ, which can lead to errors and complications, especially in complex or critical areas like kinks and bifurcations.
Innovation Solution
A method and system that utilize X-ray imaging to determine the current position and orientation of the curved tip, calibrate the robotic system, and generate actuation signals based on pre-existing information about successful or problematic navigation paths, incorporating machine-learning algorithms for precise and safe navigation, optimizing the relative position and orientation of the tip to minimize errors and enhance patient safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual navigation is used, then the practitioner can directly control the medical object, but the practitioner must stand directly at the positioning table which increases radiation exposure and reduces safety
Solution Approach 1:
A robotic system acts as an intermediary between the practitioner and the medical object. The robotic system includes a robotic arm with a robotic manipulator that can be remotely controlled by the practitioner to navigate the medical object through the patient's body, eliminating the need for the practitioner to be positioned near the patient and reducing radiation exposure.
Solution Approach 2:
The patent replaces manual mechanical manipulation with an automated robotic system. The robotic system uses sensors, processors, and actuators to automatically navigate the medical object based on imaging data and pre-planned paths, substituting the practitioner's direct manual control with an automated mechanical system that improves safety.
2Reliability
If the robotic system operates autonomously, then the trial and error rate should be minimized, but the system lacks knowledge of the curved tip alignment relative to the hollow organ
Solution Approach 1:
The robotic system continuously receives feedback from imaging systems (such as fluoroscopy or CT) that provide real-time information about the position and orientation of the medical object's curved tip within the hollow organ. This feedback is processed by the system's controller to adjust the navigation path and maintain accurate alignment, enabling autonomous operation with high reliability.
Solution Approach 2:
The system performs preliminary actions by pre-planning the navigation path and pre-calculating the required alignment of the curved tip based on the target location and organ geometry. This preliminary preparation allows the autonomous system to execute the navigation with minimal trial and error, as the alignment information is predetermined based on imaging data.
3Measurement precision
If X-ray imaging is used for real-time monitoring, then the position can be tracked, but the alignment of the curved tip relative to the hollow organ remains uncertain
Solution Approach 1:
The system transitions from two-dimensional X-ray projection images to three-dimensional spatial understanding by using multiple projection angles or combining X-ray data with CT imaging. This dimensional enhancement allows the system to reconstruct the three-dimensional position and orientation of the curved tip relative to the hollow organ, providing complete alignment information rather than just position tracking.
Solution Approach 2:
The patent introduces an image processing and reconstruction system as an intermediary between the raw X-ray images and the navigation control. This intermediary processes the imaging data to extract both position and orientation information, creating a comprehensive spatial model that resolves the uncertainty in curved tip alignment while maintaining real-time monitoring capabilities.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables more precise, safe, and patient-friendly navigation of medical objects with curved tips through hollow organs, reducing the risk of injury and complications by leveraging previous navigation data to adapt and improve subsequent procedures.
Implementation Method 1
An X-ray system for image monitoring of the intervention is assigned to the robotic system
Data Source
AI summary
A system and method for generating an actuation signal for a robotic system for robot-assisted navigation of a medical object with a curved tip in a hollow organ of a patient. An an X-ray system for image monitoring of the intervention is assigned to the robotic system. The method includes determining a current relative position and relative orientation of the curved tip of the object relative to the hollow organ using the X-ray system, calibrating the robotic system on the basis of the determined current relative position and relative orientation of the tip of the object relative to the hollow organ, retrieving first information on a planned path section in the hollow organ, retrieving second information on at least one relative position and relative orientation or relative position sequence and relative orientation sequence of the curved tip of the same or a similar object relative to the hollow organ used during a navigation movement along at least one previously traversed path section in the hollow organ or another hollow organ from a memory unit, and generating an actuation signal for actuating the robotic system. The actuation takes account of the first and second information and the current relative position and relative orientation of the tip relative to the hollow organ.