Robotic Tool Tracking for Moving Biopsy Targets Without X-Ray

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Solution Overview

Problem

Existing medical navigation systems face inaccuracies due to patient deformation during procedures, particularly in lung biopsies, caused by factors like respiratory motion and changes in patient position, leading to challenges in aligning medical tools with targets and exposing patients to unnecessary radiation.

Innovation Solution

Systems and methods that utilize preoperative 3D images and real-time patient motion information to track and control medical tools, minimizing radiation exposure by capturing 3D motion of targets during respiratory cycles, enabling accurate navigation and biopsy or treatment.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If real-time intraoperative imaging is used to track target motion, then navigation accuracy is improved, but patient exposure to X-ray radiation increases

Engineering Contradiction:

Improvenavigation accuracyVSAvoidX-ray radiation exposure

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The system performs preoperative 3D imaging and creates a detailed anatomical model before the procedure. This preliminary action captures all necessary spatial information about the target and surrounding structures, eliminating the need for repeated intraoperative imaging. The preacquired data is then used throughout the procedure to guide navigation without additional radiation exposure.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system creates a virtual copy of the patient's anatomy through 3D reconstruction from preoperative scans. This digital twin is used for real-time navigation and tracking during the procedure, replacing the need for actual intraoperative imaging. The virtual model allows continuous monitoring of target position and tool navigation without exposing the patient to radiation.

Inventive Principle:

Principle #26Copying

2Object-affected harmful factors

If preoperative 3D images are used for navigation, then radiation exposure is reduced, but accuracy deteriorates due to patient deformation during procedure

Engineering Contradiction:

Improveradiation exposureVSAvoidnavigation accuracy

Core Design Contradiction:

Object-affected harmful factorsVSMeasurement precision

Solution Approach 1:

The system incorporates real-time motion tracking that captures the dynamic changes in patient anatomy during the procedure. Sensors monitor respiratory motion, cardiac motion, and body shifts, allowing the preoperative 3D model to be dynamically updated to reflect current anatomical positions. This dynamic adaptation maintains navigation accuracy despite patient deformation.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system implements continuous feedback loops where motion sensors monitor patient movement in real-time and feed this information back to the navigation system. The navigation software uses this feedback to automatically adjust the preoperative 3D model, compensating for respiratory motion, cardiac motion, and positioning changes. This closed-loop feedback maintains accurate target localization throughout the procedure without requiring additional imaging.

Inventive Principle:

Principle #23Feedback

3Measurement precision

If motion tracking systems are added to maintain accuracy, then navigation precision is improved, but device complexity increases

Engineering Contradiction:

Improvetarget localization accuracyVSAvoidsystem complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system replaces complex mechanical tracking systems with electromagnetic sensors and software-based motion compensation. Instead of using mechanical markers or optical tracking systems that require line-of-sight and complex infrastructure, the solution uses electromagnetic field-based sensors that can track motion through tissue and integrate seamlessly with the existing preoperative imaging data.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The motion tracking sensors serve multiple functions: they monitor respiratory motion, cardiac motion, and gross body positioning simultaneously. The same sensor infrastructure supports both navigation accuracy and treatment delivery guidance. The integrated software platform handles motion compensation, image registration, and real-time navigation display, consolidating multiple functions into a unified system that reduces overall complexity.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS20260020922A1Systems and methods of moving a medical tool with a target in a visualization or robotic system for higher yields

Publication Date: 2026.01.22 COVIDIEN LP

AI summary

Visualization and robotic systems and methods utilize preoperative three dimensional (3D) images of patient motion and intraoperative, real-time patient motion information to show a target moving relative to medical tool or to control a robotic medical tool in real-time to track the target while the target is biopsied or treated. The systems and methods involve receiving preoperative 3D images of patient motion, displaying guidance for or controlling a robotic tool for navigating a medical tool near the target based on information from a position sensor disposed on the medical tool, tracking intraoperative 3D patient motion using motion sensors disposed on the patient, determining 3D target motion based on the preoperative 3D images and the tracked patient motion, and controlling the medical tool with the robotic tool to track the 3D target motion or displaying the 3D target motion relative to the medical tool.