Let $p,q\geq 3$ be integers. Let $M$ be a compact oriented smooth $(p+q)$-manifold and $P$ and $Q$ compact submanifolds of dimensions $p$ and $q$ intersecting transversely. Assume that $M,P$ and $Q$ are connected. Given two intersection points $x,y$ of opposite sign, I am looking for a concrete obstruction to finding a paths $\gamma_P$ in $P$ and $\gamma_Q$ in $Q$ connecting $x$ and $y$ such that the concatenation is a null homotopic loop in $M.$ In other words, an obstruction to finding a Whitney disk. This is possible when $M$ is simply connected but I am looking for a more refined obstruction.
Is there such a thing in the literature?