Steerable Catheter Robot with 3D Image Guidance
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Solution Overview
Problem
The complexity of sinus anatomy and the limitations of 2D X-ray guidance make it challenging to accurately navigate and position medical devices, such as guide catheters and balloon catheters, during balloon sinuplasty procedures.
Innovation Solution
A robotic system with steerable devices and robotically controlled joints, guided by an image control system that integrates preoperative and intraoperative images, to automatically navigate the steerable device towards a target within the sinus cavity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If 2D X-ray images are used for guidance, then the imaging system is simple and widely available, but the navigation accuracy deteriorates due to inability to capture complex 3D anatomy
Solution Approach 1:
The patent transitions from 2D X-ray imaging to 3D imaging modalities (such as cone beam CT or optical coherence tomography) to capture the complex three-dimensional anatomy of sinus cavities. This dimensional upgrade enables accurate visualization of curved pathways and spatial relationships, directly resolving the navigation accuracy problem while accepting increased system complexity.
Solution Approach 2:
The patent introduces a robotic system with image guidance as an intermediary between the surgeon and the catheter manipulation. The robotic system integrates 3D imaging data with real-time catheter positioning, providing enhanced navigation capabilities that overcome the limitations of direct manual manipulation under 2D X-ray guidance.
2Measurement precision
If manual manipulation of guide catheter is used, then the device is simple to operate, but the control precision deteriorates in complex sinus anatomy
Solution Approach 1:
The patent replaces manual mechanical manipulation of the guide catheter with a robotically controlled system. The robotic system uses image guidance to automatically navigate the catheter through complex sinus anatomy, substituting human manual dexterity with automated control algorithms that can process 3D spatial data and execute precise positioning maneuvers.
Solution Approach 2:
The robotic system performs self-navigation by integrating image data, calculating optimal pathways through the sinus cavity, and autonomously positioning the catheter tip at the target location. This self-service capability eliminates the need for continuous manual adjustment and maintains consistent positioning accuracy throughout the procedure.
3Reliability
If curved tip angle is manually selected from CT scan, then the planning process is simple, but the navigation reliability deteriorates due to difficulty in positioning the curve at the sinus entry point
Solution Approach 1:
The patent implements real-time image feedback during the catheter navigation process. The system continuously monitors the catheter position relative to the planned pathway and makes automated adjustments to maintain accurate positioning at the sinus entry point and throughout the navigation process, significantly improving reliability compared to static pre-procedure planning.
Solution Approach 2:
The robotic system performs preliminary planning of the optimal catheter pathway through the sinus cavity before the procedure begins, using 3D imaging data to calculate the precise trajectory and required tip angles. This pre-computed pathway guidance is then executed automatically during the procedure, ensuring reliable positioning without requiring complex real-time manual adjustments.
Data Source
AI summary
A robot includes a steerable device (402) having one or more robotically controlled joints configured to steer the steerable device. A device control system (430) is configured to adjust positioning of the steerable device in accordance with one of image feedback from an image control system (406) or a plan in a volume such that control commands are issued to the one or more robotically controlled joints to steer the steerable device in a direction consistent with navigation of the steerable device toward a target.