Autonomous Catheter with Shape Memory Needle for Myocardial Injection
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Solution Overview
Problem
Current catheter technologies for delivering stem cells to damaged myocardial tissue, such as those affected by myocardial infarction, lack autonomy and precision in navigation and injection, relying heavily on human intervention and requiring manual control for precise placement and injection, which can be limiting and risky, especially in sensitive areas like the heart.
Innovation Solution
An autonomously controllable pull wire injection catheter system that includes an outer catheter guide and an inner operating catheter with actuator-driven pull wires, contact force sensors, and electrodes, controlled by a microcontroller, allowing for autonomous navigation, precise positioning, and diagonal injection of medicinal solutions, reducing the need for human intervention and enhancing precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual control is used for catheter navigation and injection, then human intervention provides flexibility and adaptability, but precision and safety are limited due to human error and inability to maintain continuous stable control
Solution Approach 1:
The catheter system performs self-positioning and self-injection through autonomous control. The microcontroller automatically adjusts catheter position based on feedback from position sensors and executes injection based on pre-programmed protocols, eliminating the need for continuous manual operation while maintaining precision.
Solution Approach 2:
The system incorporates position sensors that continuously monitor catheter location and provide feedback to the microcontroller. This closed-loop feedback mechanism enables automatic adjustment of catheter position and injection parameters to maintain optimal precision without manual intervention.
2Reliability
If autonomous control is implemented, then precision and safety are improved, but device complexity increases due to addition of actuators, sensors, and microcontroller
Solution Approach 1:
The catheter employs a nested structure where the inner operating catheter is positioned within the outer catheter guide. This nesting allows multiple functions (navigation, positioning, injection) to be integrated in a compact configuration, reducing overall structural complexity while maintaining autonomous capabilities.
Solution Approach 2:
The catheter system integrates multiple functions into a single device: the outer catheter guide provides structural support and navigation path, the inner operating catheter performs injection, and integrated sensors monitor position. This multi-functionality reduces the need for separate devices, improving reliability without proportionally increasing complexity.
3Productivity
If continuous human monitoring is required, then adaptability to unexpected situations is maintained, but productivity and efficiency are reduced due to manual intervention requirements
Solution Approach 1:
The catheter system autonomously performs navigation and injection tasks without requiring continuous human operation. The microcontroller automatically controls actuators to position the catheter and execute injection based on pre-programmed protocols, significantly improving procedure efficiency while maintaining ease of operation through simple initiation and monitoring.
Solution Approach 2:
Position sensors provide continuous feedback to the microcontroller, enabling automatic adjustment of catheter position and injection parameters. This closed-loop control system maintains operational simplicity while improving efficiency by eliminating the need for continuous manual monitoring and adjustment.
4Manufacturing precision
If diagonal injection is implemented, then treatment efficacy is improved by better distribution of medicinal solution, but device complexity increases due to needle retraction mechanism
Solution Approach 1:
The needle is designed to dynamically change its orientation during injection. The needle transitions from an initial orientation to a diagonal orientation relative to the catheter axis during the injection process, allowing optimal distribution of medicinal solution while using a relatively simple actuated mechanism controlled by the microcontroller.
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
Enables precise and autonomous delivery of stem cells to damaged myocardial tissue, improving the accuracy and safety of the procedure by allowing the catheter to self-navigate and inject medicinal solutions without continuous human control, reducing the risk of complications and enhancing treatment efficacy.
Implementation Method 1
wherein the at least one needle is pre-shaped by using a shape memory alloy which allows injecting a medicinal solution diagonally while the needle is retracting
Data Source
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AI summary
The invention relates to an autonomously controllable pull wire injection catheter 1 comprising an outer catheter guide 2, 33 having an outer catheter guide casing 39 and an inner operating catheter 3, 31 having an inner operating catheter casing 16, wherein the inner operating catheter 3, 31 comprises a catheter handle 30, a catheter tip 10, at least one needle 5 that is connected to at least one source of medicinal solution via at least one needle channel 4, 26, at least one contact force sensor 9a-f, 25, at least one electrode 7, 24, at least four actuator driven pull wires 12-15, 20-23 for moving the tip 10 of the inner operating catheter 3, 31, wherein the inner diameter of the outer catheter guide casing 39 is larger than the outer diameter of the inner operating catheter casing 16, wherein the inner operating catheter 3, 31 is adapted to be controlled by a microcontroller, wherein the at least one electrode 7, 24 and the at least one contact force sensor 9a-f, 25 are adapted for data exchange with the microcontroller, and wherein the at least four actuator driven pull wires 12-15, 20-23 are attached inside the inner operating catheter 3, 31 perpendicular to each other at a pre-defined distance from the tip 10 in the distal region 6. The invention also relates to a robotic system comprising said autonomously controllable pull wire injection catheter 1 and a method for operating the same.