Optical Shape Sensing for Robotic Endograft Deployment
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Solution Overview
Problem
Current endovascular aneurysm repair (EVAR) and fenestrated EVAR (FEVAR) procedures face complications such as acute renal failure due to contrast dye use, endoleaks from insufficient endograft sealing, and ischemia of aortic side branches due to misplacement of the endograft, along with challenges in precise positioning and stability during deployment under x-ray fluoroscopy guidance.
Innovation Solution
Integration of optical shape sensing with robotic control for navigating an endograft within the abdominal aorta, using a robotic system that includes an optical shape sensor and a robot controller for precise axial rotation and translation, reducing the need for manual handling and minimizing radiation exposure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If x-ray fluoroscopy guidance is used for EVAR/FEVAR procedures, then positioning of the endograft can be visualized, but radiation exposure to the operator and patient increases significantly
Solution Approach 1:
The patent replaces the mechanical/x-ray imaging system with an optical sensing system. Optical shape sensors embedded in the endograft and delivery catheter provide real-time shape and position data without requiring ionizing radiation, substituting the harmful x-ray fluoroscopy guidance mechanism with a non-ionizing optical alternative while maintaining positioning accuracy
Solution Approach 2:
The patent introduces optical shape sensors as intermediary elements that indirectly measure position and shape by detecting light propagation changes through the endograft and delivery system. These sensors act as mediators between the physical deployment state and the control system, providing positional information without direct x-ray exposure
2Ease of operation
If manual handling of the deployment device is used, then operator control is flexible, but positioning precision and stability during endograft deployment are insufficient
Solution Approach 1:
The patent implements closed-loop feedback control where optical shape sensors continuously monitor the shape and position of the endograft and delivery catheter, and this real-time data is fed back to the robotic control system. The robot adjusts its manipulation based on this feedback to maintain precise positioning and stability during deployment, resolving the contradiction between manual flexibility and positioning precision
Solution Approach 2:
The endograft and delivery system perform self-measurement of their own shape and position through embedded optical sensors. This self-sensing capability eliminates the need for external imaging guidance and allows the system to autonomously track its own deployment state, improving positioning precision while reducing reliance on manual operator estimation
3Loss of information
If significant amounts of contrast dye are used during EVAR/FEVAR procedures, then vascular structure visualization is improved, but acute renal failure risk increases
Solution Approach 1:
The patent substitutes contrast dye-based visualization with optical sensing. The optical shape sensors detect changes in light propagation caused by the physical shape and position of the endograft and delivery system, providing vascular structure information through mechanical/optical interaction rather than chemical contrast agents, thereby eliminating renal toxicity
Solution Approach 2:
The patent uses optical light as an intermediary to visualize vascular structures instead of contrast dye. The optical shape sensors detect light interactions with the endograft and surrounding anatomy, providing structural information through a non-toxic optical mediator rather than nephrotoxic contrast material
4Productivity
If the endograft is deployed without precise shape sensing feedback, then deployment speed is faster, but endoleaks and ischemia complications increase
Solution Approach 1:
The patent implements real-time optical shape sensing feedback during deployment that continuously monitors endograft shape and position. This feedback allows the robotic system to make rapid adjustments to ensure proper sealing and positioning, maintaining high deployment speed while preventing endoleaks and ischemia through active control based on real-time shape data
Solution Approach 2:
The optical shape sensors are pre-integrated into the endograft and delivery system before deployment. This preliminary instrumentation allows the system to proactively monitor and adjust shape and position throughout the deployment process, ensuring sealing quality is maintained from the outset rather than correcting problems after deployment
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
This approach enhances precision and stability during endograft deployment, reduces radiation and contrast dye usage, and minimizes the risk of endoleaks and ischemia by providing concurrent intuitive control of the endograft and X-ray system, improving the safety and efficacy of EVAR/FEVAR procedures.
Implementation Method 1
an optical shape sensor for sensing a shape and/or a position of the endograft and the delivery catheter
Data Source
AI summary
A robotic system for operating a endovascular deployment device (40) including a treatment device (43) mounted to a delivery tool (42) connected to a proximal control (41), and further including an optical shape sensor (44) (e.g., an endograft endovascular deployment device incorporating an optical shape sensor). The robotic system employs a robot (50) attachable to proximal control (41) and/or delivery tool (42) for navigating the treatment device (43) within a cardiovascular system (e.g., a robot controlling an axial rotation and/or axial translation of an endograft mounted to a sheath catheter). The robotic system further employs a robot controller (74) for controlling a navigation of treatment device (43) within the cardiovascular system by the robot (50) derived from a spatial registration between a shaping sensing by the optical shape sensor (44) of a portion or entirety of endovascular deployment device (40) to a medical image of the cardiovascular system (e.g., an X-ray/reconstructed image of an abdominal aorta).