Robotic Nuclear Probe Positioning for Surgical Imaging
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Solution Overview
Problem
Current nuclear probe imaging technologies, such as PET and SPECT, are limited in surgical procedures due to their large size and manual positioning, which affects accuracy and requires repeated scans, and optical tracking has limited accuracy and is complicated by manual calibration.
Innovation Solution
A robotic navigation system using a three-dimensional scanner to position a nuclear probe around a patient without contact, allowing for regular spacing of radiation detection locations and improved image quality through automated scanning and reconstruction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic assembly is used to automatically position the nuclear detector, then measurement precision and image quality improve, but device complexity increases
Solution Approach 1:
A robotic assembly acts as an intermediary between the operator and the nuclear detector, automatically positioning the detector according to pre-determined patterns. This mediator eliminates manual positioning errors while maintaining systematic control, resolving the contradiction between improved measurement precision and increased device complexity.
Solution Approach 2:
The patent replaces manual mechanical positioning with an automated robotic system that follows computer-controlled trajectories. This substitution introduces mechanical complexity but eliminates human error in positioning, achieving superior measurement precision through automated mechanical systems.
2Ease of operation
If manual positioning of the gamma probe is used, then ease of operation is maintained, but measurement precision deteriorates due to positioning errors
Solution Approach 1:
The robotic assembly performs self-positioning based on pre-programmed patterns and coordinates, eliminating the need for continuous manual intervention. The system serves itself by automatically navigating to detection locations, maintaining ease of operation through automated self-management while achieving high positioning accuracy.
Solution Approach 2:
The system incorporates feedback mechanisms where the robotic assembly continuously monitors its position and adjusts accordingly to maintain precise positioning. This feedback loop ensures accurate detector placement while keeping the operation simple through automated correction of positioning deviations.
3Measurement precision
If repeated scanning is performed to improve image quality, then measurement precision improves, but loss of time increases
Solution Approach 1:
The scanning pattern and detection parameters are predetermined and pre-programmed before the actual scanning begins. This preliminary preparation allows the robotic assembly to execute the scan efficiently in a single pass, eliminating the need for repeated scanning while maintaining high image quality through optimized pre-planned detection trajectories.
Solution Approach 2:
The robotic assembly performs continuous scanning along predetermined paths without interruption or repetition. The detector continuously collects data along optimized trajectories, maintaining useful action throughout the scanning process and achieving high-quality images in a single continuous operation rather than through repeated scans.
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
Enables accurate and efficient sentinel lymph node mapping and characterization during surgery, reducing the need for repeated scans and improving image quality by automating the scanning process and providing better spatial sampling.
Implementation Method 1
A detector is moved to regularly spaced locations about the patient based on the three-dimensional surface... Radiation is detected with the detector at the regularly spaced locations
Data Source
AI summary
Robotic navigation is provided for nuclear probe imaging. Using a three-dimensional scanner (19), the surface of a patient is determined (42). A calibrated robotic system positions (48) a nuclear probe about the patient based on the surface. The positioning (48) may be without contacting the patient and the surface may be used in reconstruction to account for spacing of the probe from the patient. By using the robotic system for positioning (48), the speed, resolution and/or quality of the reconstructed image may be predetermined, user settable, and/or improved compared to manual scanning. The reconstruction (52) may be more computationally efficient by providing for regular spacing of radiation detection locations within the volume.