Elongated Tool Alignment System for Occluded Targets
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current surgical procedures for aligning elongated tools, such as needles, to occluded targets in minimally invasive surgeries are time-consuming, require extensive patient and surgical crew exposure to radiation, and can result in inaccurate placements leading to health hazards and repeated procedures due to the manual and iterative nature of alignment processes.
Innovation Solution
A system comprising a 3D imaging device and a processor that captures and processes 3D images to determine target and pivot point coordinates, adjusting the angular orientation of the elongated tool to align its longitudinal axis with the target, and an actuator to drive the tool towards the target based on calculated distances, reducing the need for manual alignment and iterative imaging.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual alignment of trocar to target is performed using medical imaging systems, then alignment accuracy can be achieved, but the procedure duration increases from 10 minutes to 1.5 hours and radiation exposure increases
Solution Approach 1:
The system performs preliminary 3D imaging to capture the target location and calculate the optimal insertion trajectory before the actual trocar insertion. The processor pre-calculates the angular orientation and pivot point coordinates, so that when the surgeon positions the trocar holder, the alignment is already determined, eliminating the need for time-consuming iterative adjustments during the procedure.
Solution Approach 2:
The system creates a 3D digital model (copy) of the patient's internal anatomy including the target location, allowing virtual planning and simulation of the insertion path. This digital copy enables accurate measurement and trajectory calculation without requiring repeated physical adjustments and real-time imaging during the actual procedure.
2Measurement precision
If C-arm fluoroscope is operated throughout the procedure to maintain alignment, then targeting accuracy is maintained, but patient and surgical crew are subjected to long exposure of X-ray
Solution Approach 1:
The system performs the alignment calculation and trajectory planning in advance using 3D imaging data, so that the fluoroscope does not need to remain operational throughout the procedure. The pre-calculated pivot point and angular orientation guide the trocar insertion directly, minimizing or eliminating the need for continuous fluoroscopic monitoring and reducing radiation exposure to both patient and surgical crew.
Solution Approach 2:
The system replaces the mechanical/iterative manual alignment process with computational geometry calculations performed by the processor. Instead of relying on continuous fluoroscopic guidance and manual adjustments, the system uses pre-computed 3D coordinates and trajectory data to guide the insertion, substituting real-time imaging with advance computational planning.
3Adaptability or versatility
If iterative imaging and processing is performed to adjust needle trajectory, then subsurface needle steering capability is achieved, but the technique remains time-consuming
Solution Approach 1:
The system calculates the complete insertion trajectory, pivot point, and angular orientation in advance using 3D imaging data before the needle insertion begins. This preliminary computational step provides all necessary guidance information upfront, eliminating the need for time-consuming iterative imaging and processing during the actual needle steering process.
Solution Approach 2:
The system establishes a continuous and accurate 3D model of the target and surrounding anatomy from the initial imaging, allowing the pre-calculated trajectory to guide the needle continuously along the optimal path without requiring intermittent stopping for additional imaging or processing steps.
4Extent of automation
If robotic arm surgical systems are used to perform trocar insertion, then manual alignment is automated, but the systems are bulky and expensive to manufacture and implement
Solution Approach 1:
The patent extracts the computational alignment function from the physical robotic arm system. Instead of using a bulky robotic arm to physically position the trocar, the system extracts the intelligence into a processor that calculates the precise pivot point and angular orientation from 3D imaging data, leaving only a simple trocar holder that the surgeon positions based on the computational guidance.
Solution Approach 2:
The system introduces a computational intermediary (the processor and 3D imaging system) between the surgeon and the trocar insertion process. Rather than directly manipulating a complex robotic arm, the surgeon uses the computationally derived guidance information to position a simpler trocar holder, with the computational system serving as an intelligent intermediary that provides precise alignment data.
Data Source
AI summary
Systems and methods for aligning an elongated tool to an occluded target and for striking the occluded target using the elongated tool are disclosed. The system for aligning an elongated tool to an occluded target includes an adjustment mechanism configured to adjust an angular orientation of the elongated tool relative to a pivot point spaced from the target; a 3-dimensional (3D) imaging device configured to capture a 3D image of the elongated tool and the occluded target; and a processor communicatively coupled with the adjustment mechanism and the 3D imaging device. The processor is configured to process the 3D image received from the 3D imaging device to obtain location data of the target and the pivot point; and based on the location data of the target and the pivot point, control the adjustment mechanism to adjust the angular orientation of the elongated tool relative to the pivot point to align a longitudinal axis of the elongated tool with the target and the pivot point.