Automated Tool Alignment System for Percutaneous Access
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Solution Overview
Problem
Current percutaneous access procedures for kidney stone removal involve prolonged exposure to X-rays, potential health hazards, and risks due to manual alignment of trocars, which can lead to repeated procedures and increased patient risk.
Innovation Solution
A system comprising an adjustment mechanism, an imaging device, and a processor that captures X-ray images, extracts Euclidean vector data, and iteratively adjusts the angular orientation of an elongated tool to align its longitudinal axis with a target, reducing exposure time and improving precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual alignment of trocar is used, then alignment accuracy can be achieved, but procedure duration increases and X-ray exposure time increases
Solution Approach 1:
The patent replaces the manual mechanical alignment system with an automated robotic system that uses image processing and computer control. The robotic arm executes precise movements based on processed imaging data, eliminating the need for manual manipulation and significantly reducing procedure time while maintaining alignment accuracy.
Solution Approach 2:
The system creates a digital representation (Euclidean vector) of the physical trocar based on imaging data. This virtual model allows the system to calculate and plan the optimal alignment path before execution, enabling precise alignment without repeated manual adjustments and reducing both time and radiation exposure.
2Measurement precision
If C-arm fluoroscope is operated continuously for alignment, then alignment accuracy is maintained, but radiation exposure to patient and crew increases
Solution Approach 1:
Instead of continuous fluoroscope operation, the system uses periodic imaging at critical stages: initial positioning, alignment verification, and final confirmation. The robotic system performs intermediate adjustments based on pre-acquired images and calculated vectors, minimizing fluoroscope usage to discrete moments while maintaining alignment precision.
Solution Approach 2:
The system acquires necessary imaging data and calculates the Euclidean vector and alignment parameters before the actual trocar insertion begins. This preliminary planning phase allows the robotic system to execute the insertion with minimal real-time imaging, reducing radiation exposure during the critical insertion phase while ensuring accuracy.
3Ease of operation
If manual trocar insertion is used, then flexibility is maintained, but alignment precision decreases due to hand steadiness requirements
Solution Approach 1:
The patent replaces manual hand-controlled manipulation with a robotic mechanical system. The robotic arm provides stable, vibration-free positioning and execution of the alignment and insertion process, eliminating the natural hand movements and steadiness issues inherent in manual operation while maintaining procedural flexibility through programmable control.
4Adaptability or versatility
If repeated procedures are performed due to alignment failures, then initial alignment attempts can be made, but patient risk and procedure complexity increase
Solution Approach 1:
The system incorporates real-time feedback through imaging and vector analysis to verify alignment before final insertion. The robotic system continuously monitors its position and makes corrective adjustments based on feedback from the imaging system, ensuring alignment accuracy is achieved before commitment to insertion, thereby eliminating the need for repeated procedures and reducing patient risk.
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
This system reduces patient and surgical crew exposure to X-rays, enhances alignment accuracy, and minimizes the risk of complications by automating the alignment process, thereby improving the efficiency and safety of the procedure.
Implementation Method 1
an imaging device configured to capture one or more X-ray images of the elongated tool and the target
Data Source
AI summary
A system and a method for aligning an elongated tool to an occluded target are disclosed. The system comprises an adjustment mechanism configured to adjust an angular orientation of the elongated tool relative to a pivot point spaced from the target; an imaging device configured to capture one or more X-ray images of the elongated tool and the target; and a processor communicatively coupled with the adjustment mechanism and imaging device, wherein the processor is configured to: extract Euclidean vector data of the elongated tool based on image data of an X-ray image received from the imaging device; and control the adjustment mechanism to iteratively adjust the angular orientation of the elongated tool based on the Euclidean vector data to align a longitudinal axis of the elongated tool with the target and the pivot point.