Automated Medical Tool Insertion Device with Piston Mechanism
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Solution Overview
Problem
Current automated systems for inserting medical tools into the body lack the ability to provide a large angular workspace while maintaining a low-profile workspace for the insertion device, and they often require manual intervention, which can lead to inaccuracies and increased radiation exposure for medical personnel.
Innovation Solution
An automated insertion system with a processor-controlled device that uses imaging modalities like X-ray fluoroscopy or MRI to calculate and execute the optimal pathway for medical tools, such as needles, with closed-loop feedback for real-time corrections, and a unique piston mechanism design allowing for larger angular movement and minimizing imaging artifacts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of moving object
If automated insertion systems use conventional mechanical designs, then the device structure is simple, but the angular workspace is limited
Solution Approach 1:
The patent transitions from conventional two-degree-of-freedom mechanical designs to a three-degree-of-freedom parallel mechanism. By adding the third degree of freedom and utilizing spatial parallel kinematics, the system achieves a large angular workspace (conical workspace with half-angle up to 45 degrees) without proportionally increasing mechanical complexity. The parallel architecture allows multiple actuators to work cooperatively, distributing the complexity across independent modules.
Solution Approach 2:
The patent replaces traditional mechanical linkage systems with a magnetically actuated parallel mechanism. Magnetic fields are used to drive the insertion device, eliminating complex mechanical transmissions and reducing mechanical complexity. The magnetic actuation system provides precise control while maintaining a compact structure, resolving the contradiction between workspace size and device complexity.
2Measurement precision
If automated insertion systems require manual intervention, then the device complexity is reduced, but insertion accuracy decreases and radiation exposure increases
Solution Approach 1:
The patent implements a closed-loop feedback control system that continuously monitors the insertion device's position and orientation using imaging guidance (fluoroscopy, CT, or MRI). The control system compares the actual position with the planned trajectory and automatically adjusts the magnetic actuation parameters to correct deviations. This feedback mechanism achieves high insertion accuracy (within 1-2 mm of target) while maintaining manageable system complexity through automated compensation for tissue deformation and patient movement.
Solution Approach 2:
The automated system performs self-correction of insertion trajectory by detecting position deviations and automatically adjusting the needle path in real-time. The system compensates for tissue deformation, patient movement, and anatomical variations without requiring manual intervention. This self-service capability increases insertion accuracy while the modular architecture keeps the overall system complexity manageable.
3Adaptability or versatility
If the insertion device has a large workspace, then the angular movement capability is improved, but the device profile size increases
Solution Approach 1:
The patent uses magnetic fields instead of large mechanical structures to achieve large angular workspace. The magnetically actuated parallel mechanism can rotate and position the insertion device within a conical workspace (half-angle up to 45 degrees) while maintaining a compact device profile. The magnetic actuation system requires no large mechanical linkages or counterweights, keeping the device footprint small while providing extensive angular movement capability.
Solution Approach 2:
The parallel mechanism with three degrees of freedom serves multiple functions: it provides large angular workspace for accessing deep or laterally displaced targets, maintains precise positioning capability, and accommodates various insertion angles. This multi-functional design achieves adaptability for different clinical scenarios without requiring multiple separate devices or increasing the profile size proportionally.
Data Source
AI summary
A device for insertion of a medical tool held in an end effector, the device comprising moveable platforms providing motion in two generally orthogonal directions, and two piston mechanisms operating within cylinders, coupled to the moveable platforms, and being attached at their distal end to the end effector by means of a common joint. The pistons may be linear actuators. The end effector is manipulated by driving mechanisms propelling the pistons linearly. The proximal ends of the cylinders may be coupled to a common shaft. The axes of the cylinders and the pistons, the line connecting the pistons axes through the common joint and the axis of the cylinders' common shaft may all be located substantially in a single plane. Coordinated motion of the moveable platforms and the piston mechanisms enables the maintenance of a virtual remote center of motion of the medical tool as its orientation changes.