Surgical Instrument Insertion Trajectory Visualization for Collision Avoidance
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Solution Overview
Problem
Existing computer-assisted surgical systems lack a guided tool change feature, leading to difficulties in visualizing the insertion trajectory of surgical instruments, which can cause delays, patient harm, and collisions during minimally-invasive surgeries.
Innovation Solution
A system that determines and displays an insertion trajectory for surgical instruments using a processor and memory, providing a representation of the predicted path on a display device, ensuring the instrument is inserted safely by avoiding anatomy and other instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the guided tool change feature is disabled (e.g., clutch operated), then the surgical system allows manual control flexibility, but the insertion trajectory cannot be visualized, causing delays and safety risks
Solution Approach 1:
The patent introduces an intermediary visualization system that displays the predicted insertion trajectory on a monitor or display device. This intermediary representation allows the surgeon to see where the instrument will travel without requiring the guided tool change feature to be active, thus maintaining manual control flexibility while adding a safety layer through trajectory visualization.
Solution Approach 2:
The system creates a virtual copy or representation of the insertion trajectory and displays it on a screen. This copied trajectory information allows the surgeon to plan and verify the insertion path without physically executing the movement, enabling safety verification while maintaining manual operational freedom.
2Loss of information
If the surgeon adjusts the field of view to visualize the opening, then the surgical instrument insertion can be planned, but the surgical procedure is interrupted and time is lost
Solution Approach 1:
The patent transitions the visualization from the physical surgical space (requiring camera movement) to a digital display space. The trajectory is rendered on a monitor as a 2D representation that can be viewed without moving the imaging device, allowing the surgeon to obtain trajectory information in a different dimensional domain that doesn't require procedural interruption.
Solution Approach 2:
The system calculates and displays the predicted insertion trajectory before the surgeon actually performs the insertion. This preliminary visualization allows the surgeon to review the planned path and make adjustments if needed, all before committing to the actual surgical action, thereby preventing rather than interrupting the procedure.
3Productivity
If the insertion trajectory is not visualized, then the surgical procedure can proceed quickly, but collisions with anatomy or other instruments may occur
Solution Approach 1:
The system provides visual feedback by displaying the predicted insertion trajectory on a display device. This feedback loop allows the surgeon to see the consequences of the planned insertion before executing it, enabling real-time verification and adjustment. The feedback mechanism maintains surgical efficiency by not requiring procedural interruptions while reducing collision risk through enhanced situational awareness.
Data Source
AI summary
An exemplary system determines an insertion trajectory that a surgical instrument is positioned to follow when inserted into a surgical space. The system provides, for display by a display device, an image that depicts a portion of the surgical space captured by an imaging device and at least a portion of a representation of the insertion trajectory in the surgical space.