Robotic Biopsy Guidance With EM Tracking for Patterned Sampling
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Solution Overview
Problem
Existing medical procedures face limitations in navigating and interacting with tissue sites due to constraints in control, stability, and degree of freedom of movement, particularly in collecting biopsy samples in a systematic and strategic manner.
Innovation Solution
A biopsy guidance system utilizing a robotic medical system with sensors and actuators to navigate a medical instrument to predefined or user-defined sample locations, adjusting movement based on anatomical features and respiratory patterns, and employing EM tracking for precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If manual navigation and biopsy collection is used, then the procedure is simple to perform, but the quantity and heterogeneity of collected tissue samples are limited
Solution Approach 1:
The biopsy system segments the tissue sampling process into multiple discrete sample locations arranged in patterns (e.g., radial patterns, grid patterns). The robotic system can collect multiple discrete biopsy samples at different positions within the target tissue site, with each sample location representing a segmented portion of the overall sampling task. This segmentation enables collection of heterogeneous tissue samples from different regions.
Solution Approach 2:
The system replaces manual mechanical navigation with an automated robotic system that uses electromagnetic tracking and computer-controlled actuation. The robotic medical system substitutes the physician's manual dexterity with automated control algorithms, EM field-based positioning, and programmable motion patterns, thereby enabling more precise and systematic tissue sampling.
2Quantity of substance
If manual biopsy collection is used, then the procedure is quick to perform, but the strategic collection of heterogeneous samples is limited
Solution Approach 1:
The system performs preliminary planning of biopsy sample locations before actual tissue collection. Predefined patterns (radial, grid, spiral) are established in advance, and the robotic system is programmed with the sequence of sample locations to visit. This preliminary configuration allows the system to systematically collect heterogeneous samples without requiring real-time decision-making during the procedure.
Solution Approach 2:
The robotic system continuously navigates through multiple sample locations in a predefined sequence, maintaining continuous useful action throughout the biopsy procedure. The system moves from one sample location to the next without interruption, collecting tissue samples at each position according to the predetermined pattern, thereby maximizing sample heterogeneity while minimizing idle time.
3Measurement precision
If automated robotic system with EM tracking is used, then positioning precision is improved, but device complexity increases
Solution Approach 1:
The system introduces an electromagnetic field as an intermediary medium for tracking and positioning the robotic instrument. EM trackers attached to the instrument and corresponding EM field generators create an invisible reference framework that enables precise position and orientation measurement without physical contact. This intermediary EM field system mediates between the robotic actuator and the control system, providing accurate feedback for closed-loop control.
Solution Approach 2:
The system implements closed-loop feedback control using electromagnetic tracking data. The EM tracker continuously provides position and orientation information of the robotic instrument, which is fed back to the control system. This feedback enables real-time correction of positioning errors and ensures accurate navigation to predetermined sample locations, maintaining high measurement precision throughout the procedure.
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
Enhances the ability to collect multiple biopsy samples reliably and strategically, increasing the quantity and heterogeneity of collected tissue samples while improving control and stability during procedures like bronchoscopy.
Implementation Method 1
employing EM tracking for precise positioning
Data Source
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Figure 1C
AI summary
Certain aspects relate to biopsy apparatuses, systems and techniques for biopsy using a biopsy pattern. Some aspects relate to moving a distal portion of a medical instrument to one or more sample locations of the biopsy pattern and guiding the instrument to obtain tissue samples from the sample locations within the biopsy pattern. Some aspects relate to obtaining the biopsy pattern and adjusting the sample locations within the biopsy pattern based on various factors such as anatomical features.