Robotic Catheter Navigation with 3D Surface Modeling
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Solution Overview
Problem
Navigating medical devices, such as catheters, through a patient's body to precise locations is a tedious and fatiguing process that requires significant skill and time, often necessitating extensive use of fluoroscopy, which increases radiation exposure for both patients and physicians, and lacks efficient methods for distinguishing tissue proximity and creating detailed anatomical maps.
Innovation Solution
A robotic surgical system that includes a steerable catheter with robotic control mechanisms for precise navigation, allowing for automated or manual control, contact sensing, and three-dimensional modeling of body structures by generating a cloud of location points and using surface construction algorithms to create detailed surface models, reducing the need for fluoroscopy and enhancing navigation precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual navigation of catheter through patient's vasculature is used, then physician skill and control are required, but navigation time is extended and physician fatigue increases
Solution Approach 1:
The patent replaces manual mechanical navigation with an automated robotic system that uses image guidance and computer control to navigate the catheter through the patient's body, eliminating the need for continuous manual manipulation and reducing navigation time
Solution Approach 2:
The robotic system performs self-navigation by automatically moving the catheter based on pre-acquired anatomical images and programmed pathways, allowing the system to guide itself through the vasculature without continuous physician intervention
2Loss of information
If extensive fluoroscopy is used for navigation, then real-time imaging is achieved, but radiation exposure to patient and physician increases
Solution Approach 1:
The system performs preliminary acquisition of three-dimensional anatomical images before the procedure, creating a complete spatial map of the vasculature that eliminates the need for continuous fluoroscopy during navigation, thereby reducing radiation exposure while maintaining anatomical visualization
Solution Approach 2:
The system creates a virtual three-dimensional copy of the patient's anatomy from pre-acquired images, allowing navigation to be performed in this virtual model without requiring real-time fluoroscopic imaging of the actual patient
3Measurement precision
If robotic automation is implemented for catheter navigation, then navigation precision is improved, but system complexity increases
Solution Approach 1:
The robotic system integrates multiple functions including image acquisition, three-dimensional reconstruction, automated navigation, and catheter manipulation into a single unified platform, reducing overall system complexity despite the advanced capabilities provided
4Loss of information
If three-dimensional surface modeling is performed, then anatomical mapping capability is enhanced, but data processing time is extended
Solution Approach 1:
The system uses automated computer algorithms to perform three-dimensional surface modeling and anatomical reconstruction from acquired images, replacing manual modeling processes and significantly reducing the time required to generate detailed anatomical maps
Data Source
AI summary
A method of generating a three-dimensional model of at least a portion of a heart includes inserting an electrode within the portion of a heart, robotically moving the electrode therein, periodically detecting position information of the electrode to generate a plurality of location points defining a space occupied by the portion of the heart, and generating a three-dimensional model of the portion of the heart including position information for at least some of the plurality of location points within the portion of the heart. The plurality of location points includes at least some location points on the surface of the heart and at least some location points interior thereto. The model is generated by utilizing a surface construction algorithm such as a shrink-wrap algorithm to identify the surface points and isolate or eliminate the interior points.