Elongate Instrument Modeling for Buckling and Patient Motion Detection
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Solution Overview
Problem
Minimally invasive medical procedures face challenges due to patient movement and instrument buckling, which can cause complications and complicate image-guided procedures.
Innovation Solution
A control system generates models of an elongate instrument based on reference poses, compares these models, and characterizes differences to determine states of instrument buckling and patient motion, using sensors and tracking systems to monitor shape, position, and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a flexible elongate device is used to navigate anatomic passageways, then the device can reach target tissue locations through natural orifices or incisions, but the device may buckle during insertion and procedure
Solution Approach 1:
The system dynamically monitors the elongate device by continuously tracking its shape and position using sensors distributed along the device. The control system compares real-time device configuration against expected configurations to dynamically detect buckling events during insertion and navigation, allowing adaptive response to maintain device stability.
2Ease of operation
If the patient moves during the procedure, then involuntary or voluntary bodily movements occur, but this causes complications and complicates image-guided procedures
Solution Approach 1:
The system employs feedback mechanisms by continuously monitoring the elongate device's position and shape, and comparing actual device configuration against expected configuration based on procedural commands. When deviations are detected that exceed thresholds, the system generates alerts to distinguish patient motion from buckling, providing real-time feedback to operators to maintain procedural reliability.
3Adaptability or versatility
If the minimally invasive system is accidentally moved relative to the patient, then the system position changes, but this causes complications during the procedure
Solution Approach 1:
The system monitors the relationship between the elongate device and patient anatomy by tracking device shape and position continuously. The control system compares actual device configuration against expected configuration to detect unexpected movements or dislodgments, generating alerts when deviations exceed thresholds, thereby maintaining system reliability through real-time feedback.
4Measurement precision
If real-time monitoring of device shape and position is implemented, then buckling and patient motion can be detected, but the device complexity and measurement requirements increase
Solution Approach 1:
The monitoring system is segmented into distributed sensors along the elongate device, with each sensor measuring local shape or position. The control system processes these segmented measurements individually, comparing each against expected configurations to detect buckling events. This segmentation allows precise local detection while distributing the measurement burden across multiple simple sensor elements rather than requiring a single complex measurement system.
Data Source
AI summary
A medical system comprises an elongate instrument and a control system. The control system is adapted to generate a first model of the elongate instrument and generate a second model of the elongate instrument based at least in part on a reference pose of the elongate instrument. The control system is further adapted to compare the first model with the second model and determine a difference between the first model and the second model. The control system is further adapted to characterize the difference between the first model and the second model and determine a state of instrument buckling based on the characterization of the difference between the first model and the second model.