3D Image-Guided Robot Calibration for Occluded Needle Targeting
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Solution Overview
Problem
Current surgical procedures involving needle insertion are prone to human error, expose patients and medical staff to excessive radiation, and often require multiple instruments that do not integrate well, leading to complications such as internal hemorrhage and pneumothorax due to inaccurate targeting and repeated punctures.
Innovation Solution
A control system comprising a robot with a manipulator and a 3D imaging device that calibrates and aligns an elongated tool with occluded targets within a 3D space, using a processor to integrate robot and imaging spaces, perform coarse and fine adjustments, and automatically control the tool's alignment and orientation for precise targeting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If manual needle insertion is performed by the surgeon, then the procedure can be performed with simple equipment, but the precision and accuracy of target alignment deteriorates due to human error
Solution Approach 1:
The patent replaces the manual mechanical system with an automated robotic system that uses image-guided navigation and computer control to achieve precise needle insertion. The robot arm with 6 degrees of freedom provides automated positioning and alignment, eliminating human error while maintaining equipment functionality through electronic control systems.
Solution Approach 2:
The patent creates a virtual 3D model of the patient's anatomy based on medical imaging data (CT or MRI scans). This digital copy allows the system to plan and simulate the optimal needle path before actual insertion, enabling precise target alignment without requiring complex physical models or trial-and-error manual adjustments.
2Adaptability or versatility
If multiple separate medical instruments are used for surgical procedures, then each instrument can be optimized for its specific function, but the overall system integration and coordination deteriorates
Solution Approach 1:
The patent combines multiple separate medical instruments and functions into a single integrated robotic system. The robot arm, imaging system, navigation software, and surgical tools are merged into one coordinated platform that performs positioning, imaging, navigation, and insertion functions simultaneously, eliminating the need for multiple separate instruments and improving system coordination.
3Reliability
If repeated needle punctures are performed to correct surgical errors, then the opportunity to achieve correct targeting increases, but the risk of patient complications deteriorates due to multiple punctures
Solution Approach 1:
The patent performs preliminary planning and simulation of the needle insertion path using 3D imaging and virtual modeling before the actual surgical procedure. The system calculates the optimal trajectory, identifies potential obstacles, and pre-positions the robot arm to ensure accurate first-attempt insertion, eliminating the need for repeated punctures and reducing patient risk.
4Ease of operation
If 3D imaging and robot calibration are performed manually, then the process can be completed with simple procedures, but the time required for setup and coordination deteriorates
Solution Approach 1:
The patent implements automatic calibration procedures where the robotic system self-adjusts its coordinate system alignment with the imaging system using fiducial markers or automated detection algorithms. The system automatically performs registration between the physical robot workspace and the virtual 3D imaging space, eliminating the need for manual calibration adjustments and significantly reducing setup time.
Data Source
AI summary
Control systems and methods for operating a robot are disclosed. The control system includes a robot comprising a fixed end and a manipulator movable relative to the fixed end. The robot is configured to move an elongated tool attached to an end effector of the manipulator within a robot space for aligning the elongated tool with an occluded target, wherein the robot space comprises a 3-dimensional (3D) space with the fixed end as a center. The control system further includes a processor communicatively coupled with the robot and a 3D imaging device. The 3D imaging device is configured to capture 3D images within an imaging space, wherein the imaging space comprises a 3D space with a fixed reference point on the 3D imaging device as a center. The processor is configured to process a preliminary 3D image of the end effector captured by the 3D imaging device to calibrate the robot by integrating the robot space with the imaging space. The processor is further configured to, based on the calibration of the robot, process a 3D image of a body containing the target captured by the 3D imaging device to obtain location data of the target in the integrated space. The processor is further configured to, based on the location data of the target in the integrated space, automatically control the manipulator to align a longitudinal axis of the elongated tool with the target.