Medical Instrument Motion Monitoring for Image-Guided Stability
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Solution Overview
Problem
Minimally invasive medical procedures face complications due to patient and instrument movement during medical procedures, which can be exacerbated by involuntary bodily movements or external disturbances, affecting the precision and safety of image-guided surgeries.
Innovation Solution
A teleoperated medical system with a control system that monitors the motion of medical instruments by receiving state information, comparing it with a threshold value, and generating communication messages for display, allowing for real-time adjustments to maintain instrument control and patient stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If real-time motion monitoring and feedback systems are implemented, then precision and safety of minimally invasive procedures are improved, but device complexity increases
Solution Approach 1:
The patent implements a feedback mechanism where the control system receives state information from sensors monitoring the medical instrument's position and motion, compares actual motion to commanded motion, and generates feedback signals to the display system. This closed-loop feedback enables real-time detection of patient motion and instrument deviation, allowing operators to adjust and maintain precision without excessive system complexity.
Solution Approach 2:
The control system acts as an intermediary between the medical instrument, sensors, and display system. It receives state information from sensors, processes the data by comparing commanded versus actual motion, and generates appropriate feedback displays. This intermediary layer simplifies the overall system architecture by centralizing the monitoring and decision-making functions.
2Measurement precision
If motion detection thresholds are set to be highly sensitive, then detection precision of patient motion is improved, but false alarms increase due to normal physiological movements
Solution Approach 1:
The system performs preliminary action by receiving and analyzing state information about the medical instrument's position and commanded motion before making detection decisions. The control system compares the actual motion to the commanded motion using predetermined thresholds, allowing it to anticipate and differentiate between normal physiological movements and significant patient motion that requires operator attention.
Solution Approach 2:
The system uses parameter changes by comparing multiple parameters (commanded motion, actual motion, and their difference) against thresholds to determine significant patient motion. This multi-parameter approach allows the system to maintain high detection precision while filtering out false alarms from normal physiological movements through intelligent threshold-based decision making.
Data Source
AI summary
Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided.