Robotic Working-Channel Tool Positioning for Stone Localization
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Solution Overview
Problem
Current ureteroscopy and percutaneous nephrolithotomy (PCNL) procedures are labor-intensive, costly, and imprecise, with ureteroscopes having non-ergonomic designs and relying on fluoroscopy for stone localization, which increases radiation exposure and procedural costs.
Innovation Solution
A surgical robotic system with independently manipulable pull wires for full 360-degree motion of a basket apparatus, combined with an alignment sensor using EM fields for stone detection, and a working channel for tool advancement, replacing fluoroscopy to enhance precision and reduce costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If fluoroscopy is used to locate kidney stones and guide nephroscope insertion, then stone localization accuracy is improved, but procedural cost increases and radiation exposure to patient increases
Solution Approach 1:
The patent replaces fluoroscopy (a radiological imaging system) with an electromagnetic sensor-based navigation system. The EM sensor detects electromagnetic fields generated by external generators to determine the position and orientation of surgical instruments and stones, eliminating the need for ionizing radiation while providing precise localization guidance for nephroscope insertion and stone removal.
2Measurement precision
If fluoroscopy is used for stone localization, then measurement precision is improved, but procedural cost increases
Solution Approach 1:
The patent substitutes the expensive fluoroscopy system with a more cost-effective electromagnetic sensing system. The EM sensors and external generators provide accurate positional information without the high equipment costs and operational expenses associated with fluoroscopic imaging, thereby reducing overall procedural costs while maintaining measurement precision.
3Productivity
If present nephrolithotomy techniques are used, then stone removal is achieved, but procedure time increases and patient stay extends to 2-3 days
Solution Approach 1:
The electromagnetic navigation system enables the surgical team to perform precise stone localization and nephroscope guidance independently without requiring prolonged fluoroscopic monitoring. This self-sufficient navigation capability accelerates the procedure, allowing for same-day discharge or significantly reduced hospital stays while maintaining effective stone removal.
4Productivity
If present ureteroscopy techniques are used with non-ergonomic designs, then stone capture is achieved, but operator fatigue increases and procedure efficiency decreases
Solution Approach 1:
The EM sensor system provides real-time, accurate positional feedback that enables operators to control instruments more intuitively and with less physical strain. The navigation system compensates for ergonomic deficiencies in traditional ureteroscopy equipment, allowing operators to maintain precise control during prolonged procedures without excessive fatigue, thereby improving overall procedure efficiency.
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
Facilitates easier and more precise stone capture and removal, reducing procedural costs and radiation exposure, while enabling versatile tool use during surgical operations.
Implementation Method 1
an alignment sensor which may, for example, be an EM sensor which works in conjunction with EM field generators placed around the patient
Data Source
AI summary
Techniques discussed herein relate to controlling robotic components to move medical instruments and tools configured to be advanced through the medical instruments. For example, a system can include a medical instrument with a working channel, a first robotic component configured to control movement of the medical instrument, and a second robotic component configured to control movement of a tool through the working channel. The first robotic component or the second robotic component can be configured to maintain a position of the tool while the medical instrument moves.