Active Drive System for Robotic Catheter Guidewire Control
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Solution Overview
Problem
Robotic catheter systems face challenges in preventing guidewire buckling and improving control during manipulation, especially due to the flexibility of the leader catheter and the need for additional anti-buckling devices that are cumbersome and time-consuming to install, and the complexity of emulating manual guidewire manipulation in a robotic environment.
Innovation Solution
An active drive system with a drive assembly that includes a first and second surface for engaging an elongate member, where the first surface is slidable relative to the drive mechanism, and sensors detect movement to prevent slip and buckling, allowing for improved control and reduced complexity in guidewire manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If additional anti-buckling devices are installed to prevent guidewire buckling, then guidewire manipulation reliability is improved, but device complexity and installation time increase
Solution Approach 1:
The drive assembly automatically detects and corrects slip conditions through integrated sensors (strain gauges, encoders) and control algorithms, eliminating the need for separate anti-buckling devices. The system self-regulates by adjusting drive forces based on real-time slip detection, making the manipulation process self-correcting without additional mechanical complexity.
Solution Approach 2:
The patent replaces mechanical anti-buckling devices with an electronic control system that uses sensors and algorithms to detect and prevent slip conditions. The control system substitutes physical mechanical constraints with intelligent software-based slip detection and correction mechanisms, reducing overall device complexity while maintaining reliability.
2Reliability
If additional anti-buckling devices are installed to prevent guidewire buckling, then guidewire manipulation reliability is improved, but installation time increases
Solution Approach 1:
The drive assembly is pre-integrated with slip detection sensors and control algorithms, creating a self-sufficient system that requires no additional anti-buckling devices or complex installation procedures. The system automatically configures and calibrates itself upon activation, eliminating time-consuming manual setup while ensuring reliable guidewire manipulation.
Solution Approach 2:
The patent combines the drive mechanism and anti-buckling functionality into a single integrated drive assembly. The strain gauges, encoders, and control algorithms are merged with the drive mechanism, eliminating the need for separate anti-buckling devices and their associated installation steps, thereby reducing installation time while maintaining reliability.
3Ease of operation
If manual guidewire manipulation techniques are emulated in a robotic environment, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The drive assembly incorporates real-time feedback through strain gauges and encoders that monitor slip conditions during guidewire manipulation. The control system uses this feedback to automatically adjust drive forces and prevent slip, emulating the intuitive feel of manual manipulation while maintaining robotic precision. This feedback loop simplifies operation by providing natural tactile cues without requiring complex mechanical replication of manual techniques.
Solution Approach 2:
The system dynamically adjusts drive parameters (force, speed, acceleration) based on real-time slip detection to emulate manual manipulation characteristics. By changing operational parameters rather than mechanical structure, the system achieves ease of operation similar to manual techniques while avoiding the complexity of mechanically replicating hand movements and tactile feedback.
Data Source
AI summary
The present application is related to devices, systems, and methods for controlling active drive systems. In one embodiment, the drive system may include a first surface and a second surface for engaging an elongate member. The first and second surfaces may be attached to a drive mechanism to move the elongate member. The first surface may be slidable relative to the drive mechanism and may have a clearance between the drive mechanism and an end of the first surface during movement of the elongate member in a non-slip condition. A sensor may be associated with the first surface and may be configured to detect movement of the first surface in a slip condition.