Percutaneous Access Guidance for Real-Time Needle-Scope Coaxiality
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Solution Overview
Problem
Existing percutaneous access procedures rely heavily on clinical judgment for selecting a needle insertion site, which can lead to difficulties in assessing the coaxial alignment between medical instruments, affecting the success of procedures like laparoscopy and PCNL.
Innovation Solution
A method and system that utilize sensor data from instruments within and outside the anatomy to generate a graphical interface indicating the alignment of a needle and scope, providing real-time coaxiality guidance through a graphical interface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If clinical judgment is used for selecting needle insertion site, then the procedure can be performed with existing equipment, but the coaxial alignment between instruments is difficult to assess
Solution Approach 1:
A graphical interface is introduced as an intermediary between the surgical instruments and the operator. This interface receives sensor data from both the scope and needle, processes their spatial relationships, and visualizes the coaxial alignment status, thereby enabling precise assessment without requiring complex equipment modifications to the instruments themselves
Solution Approach 2:
The mechanical/visual assessment method is replaced with an electronic sensing and graphical display system. Sensors on the instruments provide digital data about their positions and orientations, which are then processed and displayed as coaxial alignment information on a graphical interface, replacing the need for manual visual assessment
2Measurement precision
If intraoperative imaging is used to assess alignment, then coaxial alignment can be evaluated, but radiation exposure increases
Solution Approach 1:
The system replaces radiation-based imaging (X-ray, CT, fluoroscopy) with a sensor-based electronic measurement system. Sensors on the instruments detect their positions and orientations through electromagnetic fields or other non-radiation methods, eliminating the need for radiation exposure while maintaining precise alignment assessment
Solution Approach 2:
The graphical interface acts as an intermediary that processes sensor data to provide alignment information without requiring direct radiation exposure. It translates complex spatial relationships into visual representations that can be interpreted by the operator in real-time
3Measurement precision
If multiple sensors and graphical interface are added, then coaxial alignment can be accurately assessed, but device complexity increases
Solution Approach 1:
The sensor system is designed to serve multiple functions: it tracks the positions and orientations of both the scope and needle, calculates their spatial relationships, and provides real-time alignment feedback. This multi-functionality reduces the need for separate dedicated systems for each measurement task
Solution Approach 2:
The system merges the sensing, processing, and visualization functions into an integrated graphical interface. Rather than using separate independent systems, the spatial relationship data from both instruments is combined and processed together, producing unified alignment information that simplifies the overall system architecture
Data Source
AI summary
This disclosure provides methods, devices, and systems for percutaneous access. The present implementations more specifically relate to needle incision guidance techniques that provide real-time information about the coaxiality of a scope and a needle. In some aspects, a coaxiality indication system may generate a graphical interface that indicates a coaxiality of a needle and a scope based, at least in part, on first sensor data indicating a pose of the needle and second sensor data indicating a pose of the scope. The coaxiality of the needle and the scope may be represented by a three-dimensional model of the needle projected onto an image received from a camera disposed on the scope. Alternatively, or in addition, the coaxiality of the needle and the scope may be represented by a graphical feature depicting the orientation of the scope and orientation of the needle in relation to a common frame of reference.