In-bore Positioning System for MRI and CT Scanners
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Solution Overview
Problem
Current positioning systems for medical instruments within the bore of medical imaging devices, such as MRI and CT scanners, face challenges due to limited resolution, reliance on human operator expertise, and compatibility issues with scanner designs, leading to inefficiencies and inaccuracies in instrument placement during procedures like biopsies and ablations.
Innovation Solution
A positioning system comprising tracks and sliders with articulated members, allowing for controlled movement of instruments within the bore, enabling precise and automated positioning with minimal interference, using a combination of hinged connections and actuators for independent slider control, and a control unit for automated operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple repeated scans are performed to position the needle under CT-guidance, then the needle positioning accuracy is improved, but the loss of time increases
Solution Approach 1:
The system performs preliminary action by providing real-time imaging guidance before the needle insertion is completed, allowing the operator to see the needle tip position continuously during advancement rather than requiring multiple repeated scans to verify positioning. This eliminates the iterative process of inserting, scanning, repositioning, and rescanning.
Solution Approach 2:
The system implements feedback by providing real-time imaging feedback of the needle tip position to the operator during the procedure. The imaging system continuously monitors and displays the needle location, allowing immediate adjustment and confirmation of proper positioning without waiting for post-insertion scan verification.
2Manufacturing precision
If real-time high-resolution image guidance is used for instrument positioning, then the manufacturing precision of instrument placement is improved, but the device complexity increases
Solution Approach 1:
The system merges the imaging system and the robotic positioning system into a single integrated platform. The imaging system is positioned within the same robotic arm structure that holds the instrument, allowing coordinated control and shared mechanical infrastructure. This reduces overall system complexity compared to having separate imaging and positioning systems.
Solution Approach 2:
The robotic arm is designed with universal functionality to perform both imaging (through integrated sensors or cameras) and instrument manipulation. The same mechanical structure serves multiple purposes: positioning the imaging device for guidance and positioning the medical instrument for treatment, eliminating the need for separate dedicated systems.
3Reliability
If surgical robots are integrated with high-quality real-time imaging, then the reliability of robotic therapies is improved, but the device complexity increases
Solution Approach 1:
The system combines the robotic manipulation system with real-time imaging capabilities into a single integrated platform. The imaging sensors are mounted on the robotic arm itself, allowing the same structure to perform both guidance and treatment functions. This merger improves reliability by ensuring coordinated operation while managing complexity through shared hardware infrastructure.
Solution Approach 2:
The integrated system provides continuous feedback loops where imaging data is processed in real-time and used to adjust robotic positioning and instrument placement. This closed-loop control enhances the reliability of clinical outcomes by enabling real-time verification and correction of positioning accuracy throughout the procedure.
4Adaptability or versatility
If patient-mounted systems are used for needle interventions, then the adaptability of the positioning system is improved, but the ease of operation decreases due to calibration and setup time
Solution Approach 1:
The system performs preliminary action by pre-calibrating the imaging system and robotic arm relative to each other before patient-specific procedures. Reference markers and coordinate systems are established in advance, allowing rapid patient setup without extensive calibration during each procedure. The system is pre-configured to work with different patient anatomies through software-based adaptation.
Solution Approach 2:
The system implements dynamic adaptability through software-based patient-specific positioning rather than rigid mechanical customization. The imaging and robotic systems can dynamically adjust their coordinate systems and trajectories based on individual patient anatomy detected during scanning, providing adaptability without requiring physical reconfiguration or lengthy calibration procedures for each patient.
Data Source
AI summary
A positioning system is disclosed for positioning a movable object within a bore of an apparatus. At least one track is configured to be arranged along an inner surface of the apparatus. A plurality of sliders is configured to independently slide along the at least one track, and the plurality of sliders (504) are mechanically coupled to the movable object via at least one hinged connection. At least one articulated member is connected to one of the sliders via a first connection at a first end of the articulated member, and to the movable object via a second connection at a second end of the articulated member.