Robotic Nephroscope with EM Sensors for Kidney Stone Removal
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Solution Overview
Problem
Current surgical techniques for removing urinary stones, such as ureteroscopy and percutaneous nephrolithotomy, are labor-intensive, costly, and involve radiation exposure due to the reliance on non-ergonomic instruments and imaging methods like fluoroscopy, which also require skilled radiologists and result in longer recovery times.
Innovation Solution
The development of a surgical robotics system with a robotically steerable basket apparatus and an electromagnetic alignment sensor that allows for precise stone capture and localization within the kidney, reducing the need for multiple operators and radiation by using EM sensors with CT scans for guidance, enabling more efficient and precise stone removal procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fluoroscopy is used to locate the kidney stone and guide nephroscope insertion, then positioning accuracy is improved, but radiation exposure to the patient increases and procedural cost increases
Solution Approach 1:
The patent replaces fluoroscopy (radiation-based imaging) with an electromagnetic sensor system that uses EM fields for navigation and localization. The EM sensor integrated into the nephroscope provides real-time position and orientation data without radiation exposure, substituting a mechanical/electromagnetic system for a radiological one.
Solution Approach 2:
The patent introduces an electromagnetic sensor as an intermediary device between the surgeon and the kidney stone. This sensor acts as a mediator that provides navigation guidance through EM field interactions, eliminating the need for direct fluoroscopy imaging while maintaining positioning accuracy.
2Measurement precision
If fluoroscopy and skilled radiologists are used for PCNL procedures, then stone localization accuracy is improved, but procedural cost increases
Solution Approach 1:
The nephroscope with integrated EM sensor performs its own navigation and localization functions autonomously. The device self-navigates to the kidney stone using EM field guidance, eliminating the need for external fluoroscopy equipment and skilled radiologist assistance, thereby reducing procedural complexity and cost.
Solution Approach 2:
The EM sensor system provides multiple functions including navigation, positioning, and localization within a single integrated device. This multi-functional approach replaces the need for separate fluoroscopy equipment and specialized radiologist expertise, simplifying the overall procedure.
3Productivity
If traditional ureteroscopy techniques are used with non-ergonomic instruments, then stone removal capability is maintained, but operator fatigue increases and procedural efficiency decreases
Solution Approach 1:
The patent replaces manual control of traditional ureteroscopy instruments with robotic automation. The robotic system executes precise movements based on EM sensor guidance, substituting automated mechanical control for manual operation, thereby improving ergonomics and procedural efficiency.
4Productivity
If percutaneous nephrolithotomy is performed with traditional techniques, then kidney stone removal is achieved, but inpatient stay duration increases
Solution Approach 1:
The EM sensor is pre-integrated into the nephroscope before the procedure, and navigation paths are pre-planned based on EM field mapping. This preliminary preparation enables more efficient stone removal during the actual procedure, reducing overall treatment time and inpatient stay duration.
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
This approach simplifies the stone removal process, reduces procedural time, minimizes radiation exposure, and allows for single-operator procedures, enhancing the efficiency and safety of urinary stone extraction while reducing the need for costly imaging technologies and skilled radiological assistance.
Implementation Method 1
The alignment sensor may, for example, be an EM sensor which works in conjunction with EM field generators placed around the patient
Data Source
AI summary
A method is described for performing a percutaneous operation on a patient to remove an object from a cavity within the patient. The method includes advancing a first alignment sensor into the cavity through a patient lumen. The first alignment sensor provides its position and orientation in free space in real time. The alignment sensor is manipulated until it is located in proximity to the object. A percutaneous opening is made in the patient with a surgical tool, where the surgical tool includes a second alignment sensor that provides the position and orientation of the surgical tool in free space in real time. The surgical tool is directed towards the object using data provided by both the first and the second alignment sensors.