Fluid-Driven Needle Positioner for Multi-Site Percutaneous Targeting
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Solution Overview
Problem
Current percutaneous procedures for diagnostic or therapeutic purposes, such as biopsy, drainage, and tumor ablation, face challenges with inaccurate needle placement, prolonged procedure times due to rescanning and repositioning, and the need for multiple needle insertions, especially for large or multiple tumors, which can lead to high tumor recurrence and organ damage.
Innovation Solution
A compact, patient-mounted robotic system for image-guided percutaneous needle placement that allows simultaneous targeting and insertion at multiple locations, utilizing soft fluid-driven actuators for fine adjustment and granular jamming for locking, providing semi-automated needle guidance with visual feedback and MR-safe materials.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a table-mounted robotic system is used for needle placement, then high-accuracy needle targeting is achieved, but the system occupies a large footprint and requires specialized MRI equipment with larger clearance
Solution Approach 1:
The robotic system is divided into multiple independent modules: a base unit mounted on the MRI scanner table, flexible robotic arms, and needle actuators. This segmentation allows the system to achieve high positioning accuracy through modular design while reducing the overall footprint by distributing functional components across separate units rather than requiring a single bulky integrated structure.
Solution Approach 2:
The robotic components are designed with nested arrangements where smaller actuators and sensors are integrated within the structure of larger components. The needle actuators are housed within the robotic arm structure, and sensors are embedded within the needle guide, creating a compact nested configuration that maintains precision while minimizing the system's spatial occupation.
2Reliability
If a patient-mounted robotic system is used, then safety with respect to patient movement is ensured, but the system footprint becomes large and cannot be deployed in multiples for simultaneous multi-needle use
Solution Approach 1:
The system uses multiple independent patient-mounted robotic units that can be simultaneously deployed at different body locations. Each unit is a self-contained module with its own actuator and sensor system, allowing parallel operation for multi-needle procedures while maintaining compact individual footprints that can be mounted on the patient's body surface.
Solution Approach 2:
The robotic system transitions from a single large table-mounted unit to multiple distributed patient-mounted units, utilizing the three-dimensional space around the patient's body. This dimensional distribution allows simultaneous multi-needle interventions at different locations without requiring a single large system, as each unit operates independently in its local spatial dimension.
3Stability of the object's composition
If passive needle holders are used for manual adjustment, then needle orientation can be retained at fixed angles, but intensive manual adjustment by the surgeon is still needed which prolongs procedure time
Solution Approach 1:
The system replaces static passive needle holders with dynamic robotic actuators that can automatically adjust needle orientation and position. The robotic arms and actuators provide dynamic positioning capability, allowing the needle to be precisely oriented and fixed without requiring intensive manual adjustment by the surgeon, thereby reducing procedure time while maintaining orientation stability.
Solution Approach 2:
The robotic system performs self-adjustment and self-positioning functions through automated actuators and sensors. The system can independently adjust needle orientation and maintain stable positioning without requiring continuous manual intervention from the surgeon, enabling the procedure to proceed more efficiently while ensuring consistent needle placement accuracy.
4Manufacturing precision
If multiple needle insertions are required for large or multiple tumors, then complete ablation can be achieved, but the procedure time is prolonged
Solution Approach 1:
The system merges multiple needle insertion operations into a single coordinated procedure by deploying multiple robotic units simultaneously. Several needles can be inserted and positioned at different target locations concurrently, and the ablation process can be coordinated across multiple sites, thereby achieving complete ablation of large or multiple tumors without proportionally increasing procedure time.
Solution Approach 2:
The robotic system enables continuous and coordinated needle insertion and ablation operations across multiple targets. The automated positioning and control systems allow uninterrupted workflow where multiple needles can be deployed and activated in sequence or parallel without requiring significant pauses for repositioning or re-scanning, maintaining continuous productive action throughout the procedure.
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
The system reduces procedure time by enabling precise, simultaneous needle targeting at multiple sites, minimizing imaging artifacts, and ensuring accurate needle navigation, thereby improving treatment efficacy and safety for tumors near vessels or organs.
Implementation Method 1
A compact and lightweight patient-mounted robotic system for image-guided percutaneous needle placement that allows simultaneous targeting and insertion at multiple locations, utilizing soft fluid-driven actuators for fine adjustments
Implementation Method 2
providing accurate and safe needle navigation with minimal imaging artifacts
Data Source
AI summary
Disclosed are systems and methods for biopsy, drainage, drug administration, electrode implantation and/or tumor ablation employing percutaneous procedures for diagnostic or therapeutic purposes, performed by inserting a needle or probe through the skin of patient towards target anatomy using a patient mounted robot.