Respiration-Compensated Robotic Needle Insertion

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Solution Overview

Problem

Current medical procedures for needle insertion, such as radiofrequency ablation and biopsies, face challenges due to respiration-induced organ movements, leading to targeting errors of up to 5.5 cm, necessitating breath-holding which is difficult for patients and relies heavily on clinician experience.

Innovation Solution

A robotic needle insertion system with a multi-degree of freedom motion control and actuator assembly, incorporating a needle insertion mechanism that moves in a step-wise manner synchronized with respiration, guided by ultrasound and CT/MRI scans, and a navigation system for real-time image fusion and tumor tracking.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If manual needle insertion is performed during normal respiration, then the procedure is easier to perform, but targeting precision deteriorates due to organ movement

Engineering Contradiction:

Improveease of needle insertionVSAvoidneedle targeting precision

Core Design Contradiction:

Ease of operationVSManufacturing precision

Solution Approach 1:

The system employs real-time imaging (ultrasound, CT, or MRI) to continuously monitor organ position and provides feedback to the robotic control system. This allows the needle insertion process to be adjusted dynamically based on actual organ movement, maintaining precision without requiring breath-holding maneuvers.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces manual mechanical needle insertion with a robotic system that can be precisely controlled through software. The robotic arm executes needle delivery based on pre-planned trajectories and real-time imaging feedback, eliminating the need for clinicians to manually time insertions with respiratory cycles.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Manufacturing precision

If breath-holding is required during needle insertion, then targeting precision improves, but patient comfort and procedure duration worsen

Engineering Contradiction:

Improveneedle targeting precisionVSAvoidprocedure duration

Core Design Contradiction:

Manufacturing precisionVSLoss of time

Solution Approach 1:

The system performs pre-operative or pre-procedural imaging to create a detailed 3D model of the target organ and plan the optimal needle trajectory in advance. This preliminary planning allows the robotic system to execute precise insertions without requiring time-consuming breath-holding maneuvers during the actual procedure.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The robotic system enables continuous needle advancement along the pre-planned trajectory without interruption for breath-holding. The combination of rigid robotic positioning and real-time imaging feedback allows the procedure to proceed continuously, reducing overall procedure time while maintaining precision.

Inventive Principle:

Principle #20Continuity of useful action

3Manufacturing precision

If manual stepwise needle insertion is performed to compensate for motion, then targeting precision improves, but operator skill requirement and procedure complexity increase

Engineering Contradiction:

Improveneedle targeting precisionVSAvoidprocedure complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The robotic system automatically performs motion compensation without requiring manual intervention. The system self-adjusts the needle delivery timing and positioning based on real-time imaging feedback and pre-planned trajectories, eliminating the need for operators to manually coordinate with respiratory motion.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent replaces the complex manual coordination required for motion-compensated needle insertion with an automated robotic system. The robotic arm, controlled by software that integrates pre-operative planning and real-time imaging, automatically executes precise needle delivery without requiring operator skill in timing insertions with respiratory cycles.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS20250107820A1Image-guided robotic system and method with step-wise needle insertion

Publication Date: 2025.04.03 GEORGIA TECH RES CORP

AI summary

An exemplary robotic needle insertion system is disclosed that can provide respiration compensated needle insertion for an accurate and efficient ablation, biopsy, draining placement of a needle, among other surgical procedures. The system employs a robotic instrument comprising (i) a needle insertion mechanism configured to deliver the needle insertion in a step-wise manner that mimics the current clinical practice by inserting the needle (e.g., RFA needle) according to respiration and other motion and (ii) a probe manipulation mechanism to direct an ultrasound probe to provide intraoperative image guidance for the needle insertion. The robotic instrument includes a multi-degrees of freedom (DoF) motion control and actuator to provide for the accurate targeting of the needle at any workspace location