RF-Enabled Surgical Instrument Navigation and Tissue Penetration
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Solution Overview
Problem
Current minimally invasive surgical procedures face challenges in accurately navigating slender instruments, such as needles, through tissues due to unpredictable trajectories and increased resistance, which complicates reaching targeted positions within the body and requires excessive fluoroscopic imaging, leading to radiation exposure and prolonged procedure times.
Innovation Solution
The integration of radio frequency (RF) energy at the tip of surgical instruments, such as needles, to reduce mechanical forces during tissue penetration, enhance navigation accuracy, and dynamically track the instrument's position, allowing for real-time correction of deviations and movement, thereby reducing radiation exposure and procedure duration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fluoroscopic imaging is used to track instrument position, then navigation accuracy is improved, but radiation exposure and procedure time increase
Solution Approach 1:
The patent replaces fluoroscopic imaging (mechanical/radiological system) with an electromagnetic tracking system that uses RF transmitters and receivers to detect instrument position. The RF transmitter is attached to the medical instrument, and multiple RF receivers detect its position without requiring ionizing radiation, thus eliminating radiation exposure while maintaining tracking capability
Solution Approach 2:
The patent introduces RF transmitters and receivers as intermediary devices to track instrument position. Instead of directly imaging the instrument with fluoroscopy, the system uses electromagnetic field interactions between the transmitter on the instrument and receivers in the tracking system to determine position, providing indirect but effective tracking without radiation
2Ease of operation
If beveled tips are used on needles, then tissue penetration is improved, but unpredictable trajectories and lateral deflection occur
Solution Approach 1:
The patent employs real-time feedback through the electromagnetic tracking system that continuously monitors instrument position and provides dynamic feedback to the operator. This allows the operator to see the actual trajectory on a display and make adjustments to maintain the desired path, compensating for any lateral deflection caused by the beveled tip
Solution Approach 2:
The patent uses pre-procedure planning where the desired trajectory is mapped out before the procedure begins. The tracking system allows the operator to follow this pre-planned path by providing continuous position information, enabling preliminary trajectory planning to guide the instrument along the intended path despite the physical characteristics of the beveled tip
3Object-affected harmful factors
If slender instruments are used for minimally invasive procedures, then patient safety is improved, but navigation difficulty and resistance increase
Solution Approach 1:
The patent replaces mechanical navigation assistance (visual inspection, physical guides) with an electromagnetic tracking system. The RF transmitter on the slender instrument and the array of receivers create an electronic navigation system that provides real-time position information without adding mechanical complexity or resistance to the slender instrument
Solution Approach 2:
The patent makes the slender instrument multi-functional by integrating both the therapeutic function (e.g., biopsy, injection) and the tracking function into a single device. The RF transmitter is attached to or integrated with the medical instrument, allowing it to serve both its primary medical purpose and navigation purpose simultaneously, eliminating the need for separate tracking devices that would add complexity
4Productivity
If procedure time is reduced, then productivity is improved, but navigation precision may deteriorate
Solution Approach 1:
The patent provides continuous real-time tracking throughout the procedure using the electromagnetic field-based system. The RF transmitter continuously emits signals and the receivers continuously detect position, providing uninterrupted navigation information that maintains precision throughout the entire procedure without requiring intermittent fluoroscopic checks
Solution Approach 2:
The tracking system provides continuous feedback on instrument position and trajectory, allowing the operator to make immediate corrections if deviations occur. This real-time feedback loop ensures navigation precision is maintained throughout the procedure, enabling faster procedures without sacrificing accuracy
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 improves the predictability and efficiency of instrument navigation, reduces the need for beveled tips, and minimizes tissue resistance, leading to safer and faster minimally invasive surgical procedures with enhanced precision and reduced radiation exposure.
Implementation Method 1
A RF transmitter is affixed to a distal end of the medical instrument... a plurality of RF receivers adapted to receive RF signals emitted from the RF transmitter
Implementation Method 2
The RF energy at the tip of the device provides less resistance to insertion and reduces mechanical forces created during penetration of tissue
Data Source
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AI summary
The present invention concerns a system for utilizing radio frequency signals to dynamically determine the location of a medical device throughout a procedure and to improve navigation of the medical device. For these purposes, a plurality of RF receivers are mounted at operative locations in the operating room and operate on the same clock signal. The system also utilizes a diagnostic medical image such as an MRI, and overlays the position feedback signal on the image. This allows, for example, a surgeon to pick a desired spot on the diagnostic image, and then cause a robotic arm driven device to be moved to that particular spot inside the human body.