Ghost Instrument Navigation for Catheter Tip Alignment
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Solution Overview
Problem
In robot-assisted minimally invasive surgery, there is a risk of inadvertent damage to delicate organs due to the change in shape of the catheter sheath when swapping from an imaging device to a surgical tool, as the stiffness difference affects the position and orientation of the catheter tip, making it difficult to maintain precise alignment with the target site.
Innovation Solution
An endoscope system with a steerable sheath and actuator unit that displays a 'ghost' image of the initial or desired position, allowing the user to align the real-time position with the recorded or planned position, using sensors and a processor to guide the alignment through a virtual image display.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If an imaging device is removed and a surgical tool is inserted through the catheter sheath, then the surgical procedure can be completed, but the catheter sheath changes shape due to stiffness difference, causing the tip position and orientation to deviate from the target site
Solution Approach 1:
The system records the catheter sheath position and orientation before tool exchange (preliminary action) and uses this recorded information as a reference (ghost image) to guide realignment after tool exchange, compensating for the shape change that occurs when swapping from imaging device to surgical tool
Solution Approach 2:
The system creates a virtual copy (ghost image) of the catheter sheath at its initial positioned state and displays it alongside the real-time position, allowing the user to visually align the real catheter with the ghost image to restore the desired position and orientation after tool exchange
2Loss of information
If real-time EM tracking is used to guide the catheter after camera removal, then navigation information is available, but the user cannot determine if the position is as ideal as when the catheter tip was first aligned using the camera
Solution Approach 1:
The system creates a virtual copy (ghost image) of the catheter sheath at its initial positioned state and displays it alongside the real-time position, allowing the user to visually align the real catheter with the ghost image to restore the desired position and orientation after tool exchange
3Adaptability or versatility
If the catheter sheath shape changes due to stiffness difference between imaging device and surgical tool, then tool exchange is possible, but the position and orientation of the catheter tip cannot be maintained
Solution Approach 1:
The system records the catheter sheath position and orientation before tool exchange (preliminary action) and uses this recorded information as a reference (ghost image) to guide realignment after tool exchange, compensating for the shape change that occurs when swapping from imaging device to surgical tool
Data Source
AI summary
A robot-assisted endoscope system and control methods thereof allow a user to perform intraluminal interventional procedures using a steerable sheath. A processor generates a ghost image based on a non-real-time insertion trajectory of the sheath, and a real-time image based on a real-time insertion trajectory for inserting an interventional tool through the sheath towards the target site. A display screen outputs navigation guidance data for informing a user how to manipulate the distal section of the sheath towards the target site such that the real-time image overlaps or coincides with at least part the ghost image and the real-time insertion trajectory becomes aligned with the non-real-time insertion trajectory.