End Effector State Estimation for Intracorporeal Therapeutic Devices
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current transcatheter mitral valve repair (TMVR) procedures face challenges due to the complexity of the devices and their delivery systems, requiring highly skilled practitioners for navigation and deployment tasks, and struggling with accurate representation of the device's end effector state.
Innovation Solution
An end effector state estimation system that utilizes sensing and prediction algorithms, combined with imaging data and annotation of medical images, to determine the deployment state of therapeutic devices during transcatheter minimally invasive surgery, providing a graphical representation of the device's state.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional X-ray and ultrasound imaging are used for TMVR procedures, then real-time imaging guidance is provided, but accurate representation of the device's end effector state is difficult to achieve
Solution Approach 1:
The patent creates a virtual 3D copy of the therapeutic device and its end effector state, rendering it overlaid on top of 2D ultrasound images. This virtual representation accurately depicts the device's position, orientation, and deployment state without requiring complex 3D imaging hardware, thus improving measurement precision while avoiding excessive device complexity
Solution Approach 2:
The patent introduces an image processing system that acts as an intermediary between the ultrasound imaging system and the clinician. This system automatically detects the device in ultrasound images, determines its state, and generates enhanced visual representations, mediating the complex task of device state assessment and making it more accurate and accessible
2Measurement precision
If highly skilled practitioners are used to interpret imaging data, then accurate device navigation and deployment is achieved, but procedural complexity and training requirements increase
Solution Approach 1:
The patent implements an automated system that performs device detection, state determination, and visualization enhancement without requiring manual interpretation by skilled practitioners. The system processes ultrasound images automatically, extracts device features, and generates accurate 3D representations, enabling less experienced operators to achieve navigation accuracy previously requiring expert interpretation
Solution Approach 2:
The patent provides real-time visual feedback by overlaying the rendered virtual device model on ultrasound images during the procedure. This continuous feedback loop shows the device's actual position and state, allowing operators to make immediate adjustments without requiring extensive experience in interpreting ambiguous imaging data
3Reliability
If 3D visualization of device state is implemented, then procedural confidence is enhanced, but computational requirements and processing time increase
Solution Approach 1:
The patent focuses computational resources on rendering only the critical portions of the device state that are most important for procedural decision-making. Rather than processing the entire image volume or all possible device parameters, the system selectively extracts and visualizes the most relevant features, achieving high procedural confidence with reduced computational overhead
Solution Approach 2:
The patent performs preliminary processing of ultrasound images to pre-identify device features and characteristics before the actual procedure. By pre-calculating device models and preparing visualization templates in advance, the system reduces real-time computational requirements and accelerates the generation of 3D visualizations during the procedure
Data Source
AI summary
An end effector state estimation system for use in minimally invasive surgery (MIS) applications performs sensing and prediction algorithms to determine and visualize the state of an implantable therapeutic device during deployment. The end effector state estimation system includes a flexible elongate member, a therapeutic device coupled to a distal portion of the flexible elongate member, a sensor that measures at least one parameter related to the deployment state of the therapeutic device, and a processor. The processor receives image data from an imaging system representative of the therapeutic device positioned within the body cavity of the patient and the at least one parameter from the sensor, determines the deployment state of the therapeutic device based on the image data and the at least one parameter, outputs a graphical representation of the deployment state of the therapeutic device.