Robotic Electrode Placement for Precise Anatomy Imaging
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Solution Overview
Problem
Manual placement of electrodes for EIT imaging is inefficient, imprecise, and prone to inaccuracies due to patient movement, leading to reduced image quality and potential artifacts.
Innovation Solution
A robotic system is registered with patient image data to accurately determine electrode placement, track electrode movement during scans, and adjust EIT data in real-time to improve imaging quality, with the option to register EIT images with other modalities for comprehensive data fusion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual placement of electrodes is used for EIT imaging, then the process is simple and quick to set up, but the placement precision is low and prone to inaccuracies due to patient movement
Solution Approach 1:
A robotic system acts as an intermediary between the operator and the electrode placement process. The robot receives high-level commands and automatically executes precise electrode placement based on registered anatomical landmarks and pre-determined optimal positions, eliminating manual placement errors while maintaining operational simplicity through intuitive control interfaces.
Solution Approach 2:
The patent replaces manual mechanical electrode placement with an automated robotic system that uses computer vision, image registration, and automated positioning algorithms. The robotic arm with end effector substitutes human hands, providing sub-millimeter precision while accounting for patient movement through real-time tracking and adjustment.
2Reliability
If manual electrode placement is performed, then the setup time is short, but the image quality is reduced and artifacts increase due to placement inaccuracies
Solution Approach 1:
The system performs preliminary actions by pre-registering anatomical landmarks, pre-determining optimal electrode positions based on the registered anatomy, and pre-programming the robotic arm trajectory. This preparation work is done before the actual electrode placement, allowing rapid execution while ensuring high precision and image quality.
Solution Approach 2:
The robotic system maintains continuous useful action by integrating real-time patient movement tracking with continuous robotic arm adjustment. As the patient moves, the system continuously updates electrode positions to maintain optimal placement, ensuring uninterrupted high-quality imaging without requiring repeated manual adjustments.
3Measurement precision
If a robotic system is used for automated electrode placement, then placement precision is enhanced, but the device complexity increases
Solution Approach 1:
The robotic system performs self-service by automatically registering anatomical landmarks from imaging data, autonomously determining optimal electrode positions, and self-adjusting to patient movement during the procedure. The system manages its own complex tasks without requiring constant operator intervention, maintaining precision while simplifying operation.
Solution Approach 2:
The system implements feedback loops where the robotic arm continuously receives position feedback from sensors and tracking systems, and adjustment feedback from image quality metrics. This closed-loop control automatically corrects placement deviations and optimizes electrode positions in real-time, maintaining high precision while reducing the operational burden on users.
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 electrode placement precision, reduces image artifacts, and provides more accurate anatomical differentiation, enabling safer and more informative clinical decision-making.
Implementation Method 1
The location of the electrode is tracked based on output of a camera
Implementation Method 2
The location of the electrode is tracked based on one or more signals associated with tracking the location of the electrode, including one or more received electrical signals or one or more induced electrical signals
Implementation Method 3
the second modality corresponds to a modality that takes an electrical impedance tomography (EIT) scan of the patient to generate EIT data as the second image data
Data Source
AI summary
A method comprises registering a robotic system with a patient based on first image data of the patient generated by a first modality to form a registered system, determining, within the registered system, a location for placing an electrode on the patient based on an area of interest for the patient, and causing the robotic system to place the electrode at the location on the patient.