Robotic Endoscopic Guidance for Precise Percutaneous Access
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Solution Overview
Problem
Existing medical procedures, such as endoscopy and laparoscopy, face challenges in accurately guiding surgical instruments to target locations within the patient's anatomy, particularly when percutaneous access is required, due to limitations in navigation and instrument control.
Innovation Solution
A robotic system is employed to insert a first medical instrument with a position sensor, register its position with a preoperative model, and guide a second instrument percutaneously to a target location using a robotic arm, enhancing navigation through real-time imaging and patient movement compensation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic system is used to guide medical instruments with position sensors, then navigation precision and instrument placement accuracy are improved, but device complexity increases
Solution Approach 1:
The patent introduces a robotic system as an intermediary between the surgeon and the medical instruments. The robotic arm with position sensors acts as a mediator that translates surgeon commands into precise instrument movements, thereby improving navigation precision while isolating the complexity within the robotic system rather than requiring complex manual manipulation techniques
Solution Approach 2:
The patent replaces traditional manual mechanical manipulation of medical instruments with an automated robotic mechanical system. The robotic arm uses computer-controlled mechanisms and position sensors to substitute for manual dexterity, achieving superior precision while centralizing the complexity in the robotic control system
2Ease of operation
If percutaneous access is required to reach target locations, then direct instrument delivery is improved, but navigation difficulty increases due to anatomical complexity
Solution Approach 1:
The patent implements real-time feedback through position sensors on the medical instruments and the robotic arm. These sensors continuously provide information about instrument location and orientation, allowing the system to detect and measure anatomical landmarks and adjust the navigation path dynamically to overcome anatomical complexity
Solution Approach 2:
The patent uses three-dimensional imaging and navigation systems to add spatial dimensions to the navigation process. By visualizing anatomical structures in 3D space and tracking instrument positions in multiple dimensions, the system simplifies the complexity of navigating through complex anatomical pathways for percutaneous access
3Device complexity
If manual instrument manipulation is used, then device simplicity is maintained, but surgeon fatigue increases due to awkward arm motions
Solution Approach 1:
The robotic system performs self-positioning and self-adjustment through automated control algorithms and position feedback. The robotic arm autonomously compensates for its own movements and maintains optimal positioning, eliminating the need for the surgeon to perform awkward manual arm motions and thereby reducing surgeon fatigue
Data Source
AI summary
Systems and techniques for endoscopically-assisted percutaneous medical procedures are described. Techniques can include inserting a first medical instrument having an elongated shaft and a first position sensor into a region of anatomy through a natural orifice. A first position of the first medical instrument within the region can be determined with the first position sensor. A target location can be defined within the region based on the determined first position. A second medical instrument can be percutaneously guided toward the target location. The techniques can be implemented with a robotically-enabled medical system.