Image-Guided Robotic Aspiration for Controlled Cyst and Tumor Removal
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Solution Overview
Problem
Existing minimally invasive surgical techniques for removing cysts and tumors, such as colloid cysts in the brain or heart tumors, often cause tissue damage due to inaccurate endoscope positioning and excessive fluid removal, which can lead to complications like infection and tissue rupture.
Innovation Solution
An image-guided robotic system with a mechanical remote center of motion (RCM) and controlled aspiration device that limits endoscope motion, uses image-based tracking to align the endoscope and aspiration catheter with the target, and deploys suction in short bursts to minimize tissue damage and fluid removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual endoscope positioning is used to access the target, then the surgeon can guide the endoscope towards the cyst, but inaccurate positioning causes tissue damage and excessive fluid removal
Solution Approach 1:
The patent replaces manual mechanical positioning with an automated robotic system that uses image guidance and computer control to position the endoscope and aspiration catheter. The robotic system receives images from the imaging device, identifies the target region, and automatically adjusts the positions of the endoscope and catheter to align with the target, eliminating the imprecision of manual guidance.
Solution Approach 2:
The system continuously receives images from the imaging device during the procedure and uses this real-time feedback to adjust the positioning of the endoscope and aspiration catheter. The control system processes the image data and automatically modifies the device positions to maintain accurate alignment with the moving target, ensuring precise positioning throughout the procedure.
2Productivity
If continuous aspiration is applied to remove the cyst, then the cyst can be retrieved, but excessive fluid removal causes tissue rupture and infection
Solution Approach 1:
The patent implements periodic or intermittent aspiration instead of continuous suction. The control system activates the aspiration device in controlled cycles, allowing fluid to be removed in measured amounts while preventing excessive fluid removal that could cause tissue rupture. This periodic action maintains productivity while reducing harmful effects.
Solution Approach 2:
The system uses real-time imaging feedback to monitor the cyst size and fluid removal rate during aspiration. The control system adjusts the aspiration intensity and duration based on this feedback, automatically reducing or stopping aspiration when the cyst is sufficiently reduced or when approaching safe limits, thereby preventing tissue rupture and infection.
3Ease of operation
If rigid endoscope insertion through burr hole is used, then minimally invasive approach is achieved, but limited motion control reduces precision
Solution Approach 1:
The patent transforms the static, rigid endoscope positioning into a dynamic system where the robotic arm can actively adjust the endoscope position and orientation in real-time. The robotic system provides multiple degrees of freedom, allowing precise angular and positional adjustments while maintaining the minimally invasive burr hole access. This dynamic control enables high precision target alignment despite the constrained insertion point.
Solution Approach 2:
The robotic system integrates multiple functions including endoscope positioning, aspiration catheter control, and real-time image processing within a single automated platform. This multi-functional robotic system can perform various adjustments and operations through the same minimally invasive access point, enhancing both ease of operation and precision.
Data Source
AI summary
A robot controller (515) includes a first input (502) configured to receive images (524) from an imaging device for a region of interest. A target identification device (516) is configured to identify a target region in the images. A control system (517) is coupled to a robotically controlled treatment device to generate control signals to control the treatment device to treat the target region when the treatment device is positioned corresponding to the target region.