Medical Instrument Coordinate Frame Calibration
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Solution Overview
Problem
Existing medical procedures for removing urinary stones, such as nephrolithotomy, face challenges with inaccurate positioning and advancement of medical instruments, leading to complications and increased costs due to the use of fluoroscopy and prolonged patient exposure to radiation.
Innovation Solution
A medical system comprising a first instrument for accessing an anatomical site, a second instrument with imaging, and control circuitry that identifies and updates the coordinate frames of these instruments to align and control their movement, using robotic manipulators and calibration techniques to ensure precise alignment and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fluoroscopy is used to guide instrument positioning, then positioning accuracy is improved, but patient radiation exposure increases
Solution Approach 1:
The patent replaces fluoroscopy (radiation-based imaging) with an optical imaging system comprising a camera and coordinate frame calibration. The imaging component captures images of anatomical sites and instruments, while control circuitry processes these images to determine instrument positions and orientations without using ionizing radiation.
Solution Approach 2:
The patent introduces an optical imaging system as an intermediary between the surgeon and the anatomical site. This system uses cameras, coordinate frame transformations, and image processing to provide real-time visual guidance, eliminating the need for direct fluoroscopy exposure while maintaining positioning accuracy.
2Device complexity
If manual instrument advancement is used, then procedural simplicity is maintained, but positioning accuracy deteriorates
Solution Approach 1:
The patent implements a feedback system where the imaging component continuously captures images of the instrument's position, the control circuitry processes these images to determine actual position and orientation, and this information is used to guide further instrument advancement. This closed-loop feedback enables precise positioning while maintaining relatively simple manual operation.
3Measurement precision
If coordinate frame calibration is performed, then instrument alignment precision is improved, but procedural time increases
Solution Approach 1:
The patent performs coordinate frame calibration as a preliminary action before the main surgical procedure. The control circuitry determines the coordinate frame of the instrument relative to the anatomical site using images captured by the imaging component. This preliminary calibration establishes the reference framework needed for subsequent precise positioning, allowing the actual surgical steps to proceed efficiently without repeated calibration interruptions.
Data Source
AI summary
Methods, systems, and devices for calibrating a medical instrument are discussed herein. For example, a first instrument can be configured to access an anatomical site via a first access path and a second instrument can be configured to access the anatomical site via a second access path. The second instrument can include an imaging component configured to provide image data representative of the anatomical site and the first instrument. A difference can be identified between a first coordinate frame associated with the first instrument and a second coordinate frame associated with the second instrument. A control frame of reference associated with the first instrument can be updated based at least in part on the difference.