Endoluminal Robotic Navigation With EM Tracking and Haptic Feedback
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Endoluminal robotic procedures face challenges in equipment placement, navigation, and visualization, particularly in small tubular anatomies, with risks associated with manual navigation and needle slip during suturing.
Innovation Solution
The system incorporates automated navigation, EM tracking, haptic feedback, and multi-modal imaging to enhance precision and safety, including EM field generators, force sensors, and machine learning algorithms for tissue type recognition and needle path adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If automated navigation and EM tracking are implemented, then navigation precision and safety are improved, but device complexity increases
Solution Approach 1:
The system divides navigation functionality into separate modular components: EM field generators positioned externally, EM sensors integrated into the endoscopic tool, and a control system that processes tracking data. This segmentation allows precise tracking while managing complexity through modular architecture.
Solution Approach 2:
An electromagnetic field serves as an intermediary medium between the external tracking system and the endoscopic tool. The EM field generators create a field that penetrates tissue, and EM sensors detect position within this field, enabling non-contact, real-time tracking without mechanical complexity.
2Reliability
If force sensors and real-time monitoring are added, then procedural safety is improved, but device complexity increases
Solution Approach 1:
Force sensors are integrated into the robotic arm to provide real-time feedback on tissue manipulation forces. The control system receives this force data and can issue alerts or adjust robotic arm movements to prevent excessive force, improving safety through closed-loop feedback control.
Solution Approach 2:
The system automatically monitors force levels and compares them against safe thresholds without requiring continuous manual assessment by the operator. The robotic system self-regulates by receiving force feedback and autonomously adjusting its actions to maintain safety parameters.
3Adaptability or versatility
If multiple tools and robotic arms are used, then functionality and precision are improved, but ease of operation decreases
Solution Approach 1:
The robotic system employs multiple robotic arms that can each hold and operate different endoscopic tools (imaging device, needle driver, grasping tool). This universal platform allows a single system to perform multiple surgical functions, replacing the need for separate manual procedures and simplifying the overall operational workflow.
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
Improves procedural safety and efficiency by providing real-time feedback and automated navigation, reducing the risk of needle slip and enhancing visualization in complex anatomies.
Implementation Method 1
at least one EM sensor coupled to a suture needle. The instructions, when executed by the processor, may cause the processor to track the position of the suture needle based on the EM field sensed by the at least one EM sensor.
Data Source
AI summary
Endoluminal robotic systems and corresponding methods include subsystems for visualization, navigation, pressure sensing, platform compatibility, and user interfaces. The user interfaces may be implemented by one or more of a console, haptics, image fusion, voice controls, remote support, and multi-system controls.