Quantitative 3D Endoscope with Haptic Feedback
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Solution Overview
Problem
Current surgical endoscopy systems lack the capability to provide accurate quantitative three-dimensional imaging and haptic feedback, which are essential for precise tissue deformation measurement and force estimation during medical procedures.
Innovation Solution
A system that combines a quantitative three-dimensional endoscope with a haptic user interface, using a sensor array to capture and process images, calculate three-dimensional coordinates, and provide real-time haptic feedback based on tissue deformation and stiffness measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If quantitative three-dimensional imaging is implemented in surgical endoscopy systems, then measurement precision of tissue deformation is improved, but device complexity increases
Solution Approach 1:
The patent replaces complex mechanical 3D measurement systems with optical-based time-of-flight imaging. Instead of using mechanical sensors or structured light projection systems, the invention uses a time-of-flight sensor array that optically measures the time for light to travel to and from tissue surfaces, enabling quantitative 3D deformation measurement with simplified device architecture.
Solution Approach 2:
The time-of-flight sensor array serves multiple functions: it captures 3D spatial information, measures tissue deformation, and provides depth mapping simultaneously. This multi-functionality eliminates the need for separate measurement systems, reducing overall device complexity while maintaining high measurement precision.
2Measurement precision
If haptic feedback based on quantitative three-dimensional imaging is provided, then force estimation accuracy is improved, but device complexity increases
Solution Approach 1:
The system implements a feedback loop where time-of-flight imaging continuously measures tissue deformation, the control system calculates corresponding forces based on these measurements, and haptic actuators provide real-time force feedback to the surgeon. This closed-loop feedback enables accurate force estimation while integrating seamlessly into the existing surgical system.
Solution Approach 2:
The patent introduces a control system as an intermediary that processes time-of-flight imaging data and translates it into haptic feedback signals. This intermediary layer simplifies the connection between the imaging system and haptic actuators, enabling accurate force estimation without requiring direct complex integration between these subsystems.
3Measurement precision
If time-of-flight imaging is used for three-dimensional coordinate determination, then depth measurement capability is improved, but use of energy increases
Solution Approach 1:
The time-of-flight imaging system uses periodic light pulse emission instead of continuous illumination. By emitting light pulses at specific intervals and measuring the round-trip time, the system achieves accurate depth measurement while significantly reducing energy consumption compared to continuous lighting schemes.
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
Enables surgeons to receive precise haptic feedback and accurate force estimation, enhancing the precision and safety of minimally invasive surgical procedures by overlaying numerical distance and stiffness information onto the surgical scene.
Implementation Method 1
A quantitative three-dimensional endoscope 2606...using a sensor array to capture and process images
Implementation Method 2
calculate three-dimensional coordinates, and provide real-time haptic feedback based on tissue deformation and stiffness measurements
Data Source
AI summary
A system is provided to provide haptic feedback during a medical procedure comprising: a quantitative three-dimensional (Q3D); a surgical instrument disposed to deform a tissue structure; a haptic user interface device configured to provide an indication of tissue structure deformation in response to information indicative of the measure of tissue structure deformation; and a processor configured to produce a Q3D model that includes information indicative of a measure of tissue structure deformation and to provide the information indicative of the measure of tissue structure deformation to the haptic user interface device.