Robotic Device for Minimally Invasive Soft Tissue Intervention
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Solution Overview
Problem
Minimally invasive medical procedures on deformable tissues face challenges due to the lack of precise positioning of medical instruments within the body, as existing navigation systems rely on static anatomical structures and do not account for tissue movement or deformation, leading to potential inaccuracies and increased risk of damaging sensitive structures.
Innovation Solution
A robotic device equipped with a robot arm, non-irradiating image acquisition system, and biomechanical model to accurately position and orient medical instruments within the body, accounting for tissue deformation and movement, ensuring precise placement and reducing the risk of complications.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional navigation systems are used for minimally invasive procedures, then the system complexity is reduced, but the positioning precision deteriorates due to inability to account for tissue deformation and movement
Solution Approach 1:
The navigation system transitions from static preoperative images to dynamic real-time tracking. The system continuously monitors tissue deformation and movement during the procedure, updating the virtual anatomical model in real-time to reflect actual tissue positions, thereby maintaining positioning precision despite tissue dynamics
Solution Approach 2:
A biomechanical model acts as an intermediary between preoperative images and real-time positioning. This model simulates tissue deformation and movement, bridging the gap between static preoperative data and dynamic intraoperative conditions, enabling accurate instrument tracking without requiring complex real-time imaging systems
2Manufacturing precision
If manual instrument insertion is performed by operator, then the device complexity is reduced, but the manufacturing precision deteriorates due to operator skill dependency and lack of repeatability
Solution Approach 1:
The robotic system performs self-positioning and self-correction based on real-time feedback from the navigation system. The automated robot arm independently adjusts instrument placement to match the planned trajectory, eliminating operator skill variability and achieving consistent high-precision results without requiring complex manual dexterity
Solution Approach 2:
Manual mechanical manipulation by the operator is replaced with automated robotic manipulation. The robotic arm executes precise movements based on digital planning and real-time navigation feedback, substituting human motor skills with programmable mechanical systems that offer superior repeatability and precision
3Reliability
If static preoperative images are used for navigation, then the image acquisition cost is reduced, but the reliability deteriorates due to tissue movement and deformation between imaging and intervention
Solution Approach 1:
Instead of relying on a single static preoperative image, the system performs periodic updates of the anatomical model during the procedure. Real-time tracking data is continuously integrated to refresh the virtual anatomical representation, ensuring it remains accurate despite tissue movement without requiring continuous expensive imaging
Solution Approach 2:
The system creates and updates a virtual copy of the anatomical structure based on preoperative images. This digital twin is then continuously adjusted to match real-time tissue position, providing an accurate navigational reference without requiring direct real-time imaging of the actual anatomy
4Measurement precision
If optical navigation systems are used, then the measurement precision is improved, but the ease of operation deteriorates due to field-of-view obstruction problems
Solution Approach 1:
The system merges multiple tracking modalities including optical tracking, electromagnetic tracking, and inertial measurement units. This multi-sensory approach provides redundant tracking capabilities, maintaining high precision while overcoming line-of-sight limitations that plague pure optical systems
Data Source
Figure 1~3
AI summary
The present invention relates to a robotic device (10) for performing a medical intervention on a patient (30) using a medical instrument (13), comprising: - a robot arm (11) having several degrees of freedom and having an end suitable for receiving the medical instrument, - an image capture system (14) suitable for capturing position information concerning the anatomy of the patient, - a storage medium (15) including a biomechanical model of the human body, - a processing circuit (17) configured to determine a position setpoint and an orientation setpoint for said medical instrument on the basis of the biomechanical model, on the basis of the position information and on the basis of a trajectory to be followed by the medical instrument (13) in order to perform the medical intervention, - a control circuit (16) configured to control the robot arm (11) in order to place the medical instrument (13) in the position setpoint and the orientation setpoint.