Trajectory Planning for Deformable Tissue Insertion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current methods for determining an insertion trajectory for medical tools within a tissular matrix fail to account for deformation, leading to potential misses or tissue damage due to the lack of consideration for target object displacement during insertion.
Innovation Solution
A method and robotic system that acquire three-dimensional images of the tissular matrix, determine potential trajectories avoiding obstacles, simulate tool insertion to account for target object displacement, and adjust the trajectory to ensure accurate targeting of a moving target object within the matrix.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a trajectory is determined using conventional methods without considering deformation, then the trajectory optimization is computationally efficient, but the target object cannot be accurately reached due to displacement caused by tissue deformation
Solution Approach 1:
The patent applies preliminary action by simulating tissue deformation and predicting target object displacement before the actual needle insertion occurs. The method pre-calculates the trajectory adjustment needed based on simulated deformation, allowing the physician to plan the corrected trajectory in advance rather than reacting to displacement during the procedure. This resolves the contradiction by maintaining accuracy through pre-computation while avoiding the complexity of real-time adjustment systems.
2Reliability
If simulation of tissue deformation is performed to account for target displacement, then the targeting accuracy is improved, but the computational time and complexity increase
Solution Approach 1:
The patent uses copying by creating a virtual three-dimensional model (copy) of the patient's anatomical structures based on medical imaging data. This digital twin allows deformation simulation and trajectory calculation to be performed on the copy rather than requiring complex real-time calculations on the actual patient anatomy. The method thus achieves reliable deformation accounting while reducing computational time by working with the replicated model.
3Reliability
If multiple trajectory options are considered to account for deformation, then the reliability of reaching the target is improved, but the complexity of trajectory planning increases
Solution Approach 1:
The patent applies feedback by using the simulated deformation results to adjust and refine the trajectory calculation. The method calculates an initial trajectory, simulates the deformation it would cause, determines the resulting target displacement, and then feeds this information back to correct the trajectory. This iterative feedback loop improves reliability by accounting for deformation effects while maintaining manageable complexity through systematic refinement rather than exhaustive analysis of all possible trajectories.
Data Source
AI summary
A method for determining an insertion trajectory of a tool for reaching a moving target object prior to its insertion into a tissular matrix. The method comprises acquiring images of the tissular matrix, constructing a three-dimensional representation of the tissular matrix, determining coordinates of the initial position of the target object and any obstacles, and determining at least one potential trajectory of the tool from the coordinates of any obstacles and the initial position of the target object. The method further comprises simulating insertion of the tool in the tissular matrix to determine displacement of the target object during insertion of the tool up to the initial position of the target object along a potential trajectory, determining a new position of the target object based on the determined displacement, and determining the insertion trajectory for the new position of the target object.