Path-Based Instrument Navigation for Accurate Tubular Network Localization
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Solution Overview
Problem
Existing navigation techniques for tubular networks, such as those used in bronchoscopy, suffer from inaccurate motion estimation of medical instruments within the body, leading to incorrect localization and misleading information for physicians during surgical procedures.
Innovation Solution
A medical robotic system that utilizes a set of processors and computer-readable memory to receive location data from sensors and robot command inputs, determining instrument location based on both sensor data and a pre-defined path within a luminal network model, and adjusting estimates using a combination of modalities to enhance accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If motion estimation is based solely on location sensor data, then the system is simple to operate, but the location accuracy deteriorates
Solution Approach 1:
The patent combines multiple data sources including location sensor data, robot command inputs, and pre-defined path information to estimate instrument location. This merging of multiple estimation methods (sensor-based, command-based, and path-based) resolves the contradiction by achieving higher measurement precision through data fusion while managing system complexity through integrated processing.
Solution Approach 2:
The system implements feedback by continuously comparing estimated location with expected path and adjusting the estimation accordingly. The navigation system uses feedback loops to refine location estimates by comparing actual sensor readings with predicted positions based on commanded movements and path constraints, thereby improving accuracy without proportionally increasing complexity.
2Measurement precision
If multiple data sources are integrated for location estimation, then location accuracy improves, but device complexity increases
Solution Approach 1:
The patent introduces an intermediary processing layer that receives data from multiple sources (sensors, robot commands, path definitions) and integrates them through a unified estimation algorithm. This intermediary navigation module acts as a mediator that harmonizes data from different sources, improving measurement precision while containing data integration complexity through structured processing.
Solution Approach 2:
The navigation system is designed as a multi-functional platform that handles location estimation, path planning, and motion compensation within a single integrated framework. This universal system performs multiple functions simultaneously, achieving high location accuracy through unified data processing while avoiding the complexity of separate specialized systems.
3Reliability
If real-time location tracking is performed continuously, then navigation reliability improves, but energy consumption increases
Solution Approach 1:
The system performs location estimation at periodic intervals rather than continuously, updating the instrument position based on accumulated sensor data and commanded movements. This periodic estimation approach maintains navigation reliability by providing regular position updates while reducing processor energy consumption by avoiding constant calculation cycles.
Data Source
AI summary
Provided are systems and methods for path-based navigation of tubular networks. In one aspect, the method includes receiving location data from at least one of a set of location sensors and a set of robot command inputs, the location data being indicative of a location of an instrument configured to be driven through a luminal network. The method also includes determining a first estimate of the location of the instrument at a first time based on the location data, determining a second estimate of the location of the instrument at the first time based on the path, and determining the location of the instrument at the first time based on the first estimate and the second estimate.