Surgical Instrument Insertion Trajectory Visualization for Tool Changes
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Solution Overview
Problem
Existing computer-assisted surgical systems lack a guided tool change feature, leading to difficulties in visualizing the insertion trajectory of surgical instruments, which can cause delays, patient harm, and collisions during minimally-invasive surgeries.
Innovation Solution
A system that determines and visually depicts the predicted insertion trajectory of a surgical instrument into a surgical space using a processor and memory, providing an image that includes the surgical space and a representation of the trajectory, ensuring the instrument is only inserted after the insertion path is viewed by an imaging device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the guided tool change feature is disabled (e.g., clutch is operated), then the surgical system allows manual control flexibility, but the insertion trajectory cannot be visualized, causing delays and potential patient harm
Solution Approach 1:
The system introduces an intermediary visualization mechanism that bridges the gap between manual control mode and trajectory guidance. When the guided tool change feature is disabled, the system automatically adjusts the imaging device's field of view to display the opening and insertion trajectory, serving as a mediator that provides trajectory visualization without requiring the guided feature to be enabled.
Solution Approach 2:
The system performs preliminary actions by automatically positioning and adjusting the imaging device to visualize the opening and insertion trajectory before the surgical instrument is inserted. This preliminary visualization ensures the trajectory is clear and visible, preventing delays and potential harm during the actual insertion process.
2Productivity
If the field of view is manually adjusted to find the opening, then the surgical instrument insertion can proceed, but significant time is spent searching for the opening, causing delays
Solution Approach 1:
The system performs self-service by automatically adjusting the imaging device's field of view to locate and display the opening and insertion trajectory without requiring manual intervention. The system autonomously identifies the opening position and orients the imaging device accordingly, eliminating the time-consuming manual search process.
3Productivity
If the insertion trajectory is not visualized, then the surgical procedure can continue without interruption, but the surgical instrument may collide with anatomy or other instruments, causing patient harm
Solution Approach 1:
The system implements feedback by continuously monitoring the insertion trajectory and providing real-time visualization of the path the surgical instrument will follow. The imaging device adjusts to keep the trajectory visible, giving the surgeon feedback about potential collisions with anatomy or other instruments, allowing corrective action before harm occurs.
4Adaptability or versatility
If multiple surgical instruments are inserted in the surgical space, then the surgical procedure complexity increases, but the risk of collision between instruments increases
Solution Approach 1:
The system introduces an intermediary visualization layer that displays the insertion trajectories of multiple surgical instruments simultaneously. This mediator provides a comprehensive view of all instrument paths, allowing the surgeon to plan and execute multiple instrument insertions while avoiding collisions, thus supporting increased procedural complexity with maintained safety.
Data Source
AI summary
An exemplary system determines an insertion trajectory that a surgical instrument is positioned to follow when inserted into a surgical space. The system provides, for display by a display device, an image that depicts a portion of the surgical space captured by an imaging device and at least a portion of a representation of the insertion trajectory in the surgical space.