Guided Port Placement Selection for Collision-Aware Surgical Access
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Solution Overview
Problem
Existing systems for selecting port placements in minimally invasive procedures fail to account for variations in patient anatomy, instrument capabilities, and operator preferences, leading to suboptimal port placements that may result in collisions, reduced reachability, and decreased operability.
Innovation Solution
A method and system that utilize a control unit to receive a patient model, identify potential port locations, evaluate collision volumes, reachability metrics, and anthropomorphic metrics to determine optimal port placements, considering kinematic measures and human factors constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If port locations are selected to maximize reachability to target anatomy, then the ability to access surgical sites is improved, but the likelihood of collisions between instruments and device components increases
Solution Approach 1:
The system performs preliminary calculations of collision volumes for each potential port location before final port placement is made. By pre-computing the collision volumes and evaluating them against device components, the system identifies port locations that provide good reachability while avoiding areas that would cause collisions during instrument manipulation.
Solution Approach 2:
The collision volume serves as an intermediary representation that mediates between the port location selection and the actual collision risk. The system uses this intermediate collision volume model to evaluate and compare different port locations, allowing optimization of both reachability and collision avoidance without direct trial-and-error testing.
2Stability of the object's composition
If port locations are selected based on standard anatomical landmarks, then placement consistency is improved, but adaptability to individual patient anatomy variations is reduced
Solution Approach 1:
The system evaluates port locations based on local anatomical characteristics specific to each patient's anatomy rather than applying uniform standard landmark rules. By analyzing the specific geometric features and spatial relationships in each patient's anatomy, the system adapts port location selection to individual variations while maintaining systematic evaluation criteria.
Solution Approach 2:
The system adjusts port location parameters based on patient-specific anatomical measurements and characteristics. Rather than fixing port locations to standard anatomical landmarks, the system varies the location parameters according to the actual patient anatomy, allowing optimization for each individual case while maintaining consistent evaluation methodology.
3Measurement precision
If multiple port locations are evaluated in detail, then selection accuracy is improved, but computational time and system complexity increase
Solution Approach 1:
The evaluation process is segmented into distinct computational stages: first calculating collision volumes for each port location, then determining reachability metrics, and finally computing anthropomorphic metrics. This segmentation allows the system to process multiple port locations systematically, breaking down the complex evaluation into manageable steps that can be performed efficiently.
Solution Approach 2:
The system calculates collision volumes, reachability metrics, and anthropomorphic metrics for multiple port locations beyond what would be minimally necessary, then uses these comprehensive data to select the optimal location. By performing evaluations for more locations than strictly needed and using aggregate metrics, the system achieves high selection accuracy while distributing computational effort across multiple candidates.
Data Source
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AI summary
Systems and methods for guided port placement selection include receiving a patient model, identifying a plurality of port locations on the patient model for accessing a workspace using a plurality of instruments controlled by a computer-assisted device and displaying one or more of the combinations of the plurality of port locations to a user along with a corresponding aggregate metric. For each of the port locations, the method includes determining a collision volume for portions of the computer-assisted device proximal to the port location, a reachability metric, and an anthropomorphic metric. For each combination of the plurality of port locations, the method includes determining a collision metric based on overlaps of the collision volumes for the port locations in the combination, and an aggregate metric for the combination.