Robot-Guided Needle Placement with Dynamic Pose Adjustment
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Solution Overview
Problem
During surgical procedures, the deformable nature of anatomical structures can cause preplanned surgical routes to become invalid, leading to challenges in safely inserting surgical instruments without colliding with surrounding anatomical structures.
Innovation Solution
A robot-guided instrument insertion system that uses a preplanned three-dimensional path and real-time tracking to dynamically adjust the pose of the surgical instrument, ensuring safe navigation and avoidance of collisions with anatomical structures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a preplanned surgical route is generated based on 3D models before surgery, then the initial path planning precision is improved, but the route becomes invalid during surgery due to anatomical deformation
Solution Approach 1:
The system transitions from a static preplanned route to a dynamic adaptive route that updates in real-time during surgery. The surgical path is continuously adjusted based on current anatomical structure positions detected by tracking systems, allowing the route to adapt to deformations while maintaining precision.
Solution Approach 2:
The system implements real-time feedback by continuously tracking the positions of anatomical structures and surgical instruments during the procedure. This feedback loop enables dynamic recalculation and adjustment of the surgical path to maintain validity despite anatomical changes.
2Reliability
If real-time tracking and dynamic path adjustment are implemented, then the route validity during surgery is improved, but the system complexity increases
Solution Approach 1:
The system integrates multiple functions into a unified platform: preoperative 3D model construction, real-time tracking of anatomical structures, dynamic path recalculation, and surgical guidance all operate through a single integrated system. This multi-functionality reduces overall system complexity despite the advanced capabilities.
Solution Approach 2:
The system introduces a computational path planning module as an intermediary that automatically recalculates surgical routes based on real-time anatomical data. This intermediary handles the complex calculations and adjustments, simplifying the control burden on surgeons while maintaining high route validity.
3Ease of operation
If the surgical instrument follows a fixed preplanned path, then the operation simplicity is maintained, but collision with deformed anatomical structures cannot be avoided
Solution Approach 1:
The surgical path transitions from a fixed static trajectory to a dynamic adaptive trajectory that automatically adjusts to avoid deformed anatomical structures. The system maintains operational simplicity by automating the path adjustment process, requiring minimal additional input from the surgeon.
Solution Approach 2:
The system performs preliminary risk assessment by continuously monitoring anatomical structure positions and proactively adjusts the surgical path to prevent potential collisions before they occur. This anticipatory adjustment reduces collision risk while maintaining ease of operation.
Data Source
AI summary
Method, system, medium, and implementation for robot-guided instrument insertion. A preplanned path between a three-dimensional (3D) entry pose on skin of a patient to a 3D pose of a target is generated for a surgery with a target inside the patient. The preplanned path is used by a robot as guidance to insert a surgical instrument from the 3D entry pose to reach the 3D pose of the target. During the surgery, a next pose is determined based on a current pose of the surgical instrument and the preplanned path as well as spatial relationship to surrounding anatomical structures and is used to move the surgical instrument thereto. An updated current pose of the instrument is then obtained via tracking when the robot is advancing the surgical instrument to the next pose. The process repeats until the instrument reaches the target pose.