Constant-Velocity Needle Rotation for MRI-Guided RFA
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Solution Overview
Problem
Conventional manual methods for radiofrequency ablation (RFA) procedures in the lower back require manual probe rotation, increasing procedure time and patient discomfort, while existing robotic systems lack a six-degree-of-freedom (6DOF) design capable of autonomous probe insertion and rotation, especially in MRI-compatible settings.
Innovation Solution
A system utilizing a constant velocity joint, such as a Rzeppa-style joint, allows for automated precise control of probe rotation independent of its angle, integrated with MRI-compatible materials like polylactic acid (PLA) for use in MRI environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual probe rotation is used in conventional RFA procedures, then the system is simpler to operate, but procedure time increases and targeting accuracy decreases
Solution Approach 1:
The robotic system performs probe rotation autonomously without requiring manual intervention. The motorized joint system automatically adjusts probe orientation based on pre-planned trajectories, eliminating the need for surgeons to manually rotate probes during procedures, thereby reducing procedure time while maintaining high targeting accuracy.
Solution Approach 2:
Manual mechanical probe rotation is replaced with an automated motorized system. The patent employs electric motors coupled with joint mechanisms to rotate the probe along precise trajectories, substituting human-operated mechanical adjustment with automated motor control, which significantly reduces procedure time and improves repeatability.
2Measurement precision
If robotic-guided RFA procedures are implemented, then targeting accuracy and productivity improve, but device complexity increases
Solution Approach 1:
The robotic system is divided into modular components including separate joints, motors, and control systems. Each joint can be independently controlled and replaced, allowing for easier maintenance and reduced overall system complexity. The segmentation enables the complex robotic function to be achieved through coordinated simple modular units.
Solution Approach 2:
The robotic system is designed with universal joints and motors that can perform multiple functions - positioning, rotating, and orienting the probe in three-dimensional space. This multi-functionality reduces the need for separate specialized components, thereby managing device complexity while achieving high targeting accuracy through integrated motion control.
3Manufacturing precision
If probe rotation is performed manually, then device complexity is reduced, but manufacturing precision and probe orientation control deteriorate
Solution Approach 1:
The robotic system incorporates feedback mechanisms through MRI imaging that continuously monitor probe position and orientation. This feedback is used by the control system to make real-time adjustments, ensuring precise probe orientation control. The closed-loop control compensates for any deviations, maintaining high manufacturing precision without requiring overly complex mechanical rotation mechanisms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances procedural accuracy and reduces operating time by enabling automated probe rotation, potentially decreasing errors and radiation exposure, and improving targeting precision in RFA procedures.
Implementation Method 1
The joint can be a constant velocity joint... the constant velocity joint can be a Rzeppa-style constant velocity joint
Data Source
AI summary
An exemplary embodiment of the present disclosure provides a system for guiding a probe during a medical procedure. The system can comprise a joint, a shaft, and a motor. The joint can comprise an aperture extending therethrough. The shaft can extend through the aperture and be configured to pivot between a plurality of angles with respect to the joint. The motor can be coupled to the joint and configured to cause a rotation of a first portion of the joint, such that the rotation of the first portion of the joint causes an equal rotation of the shaft, independent of an angle of the shaft with respect to the joint in the plurality of angles.