Robotic Catheter Tip Alignment With Trajectory Replay Feedback
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Solution Overview
Problem
Current robotic catheter systems face challenges in accurately and efficiently aligning the catheter tip with intended targets, particularly in peripheral pulmonary lesions, leading to suboptimal targeting and prolonged procedure times.
Innovation Solution
A robotic catheter system and method that includes a steerable catheter with bending segments actuated by drive wires, a system controller for guiding the catheter, and a display controller for showing the alignment accuracy and historical sampling locations, allowing the operator to refer to past attempts for improved targeting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the physician manually adjusts the catheter position through repeated attempts, then the catheter tip can reach the target, but the procedure time increases and targeting accuracy deteriorates
Solution Approach 1:
The system provides real-time visual feedback by displaying the catheter tip position, orientation, and distance to the target on a monitor. This feedback loop allows the operator to see the exact alignment status and make precise adjustments, eliminating the need for repeated trial-and-error attempts and reducing procedure time while maintaining high targeting accuracy.
Solution Approach 2:
The patent replaces manual mechanical adjustment with an automated robotic system that uses visual guidance and computational algorithms to position the catheter. The robotic catheter system automatically calculates the optimal insertion path and adjusts the catheter position based on real-time spatial relationship data, substituting manual mechanical manipulation with automated control.
2Measurement precision
If the physician focuses on repeated manual realignment, then the catheter can be positioned at the target, but the mental burden on the operator increases
Solution Approach 1:
The robotic catheter system performs self-alignment by automatically calculating the optimal position and orientation based on the displayed spatial relationships. The system self-corrects the catheter position without requiring continuous manual intervention, reducing the operator's mental burden while maintaining high targeting accuracy.
Solution Approach 2:
The patent replaces manual cognitive processing and decision-making with an automated computational system that continuously calculates the optimal catheter position. The robotic system processes spatial data and makes positioning decisions automatically, eliminating the need for the operator to mentally track and adjust multiple parameters simultaneously.
3Productivity
If traditional manual catheter navigation is used, then the catheter can reach the target, but the procedure duration is prolonged
Solution Approach 1:
The patent replaces manual catheter navigation with an automated robotic system that uses real-time spatial relationship display to guide catheter insertion. The robotic system automatically calculates the optimal path and adjusts positioning, eliminating the time-consuming trial-and-error process and significantly reducing procedure duration while improving efficiency.
Solution Approach 2:
The system provides continuous real-time feedback on catheter position, orientation, and distance to the target, allowing for immediate corrections without trial-and-error attempts. This feedback mechanism enables the operator or automated system to achieve accurate positioning in a single attempt, dramatically reducing procedure time and improving overall efficiency.
Data Source
AI summary
A system for, display controller connected to, and a method of, operating a robotic catheter system which is configured to manipulate a catheter having one or more bending segments along the catheter's length and a catheter tip at the distal end thereof, and which includes an actuator unit coupled to the bending segments via one or more drive wires arranged along a wall of the catheter. The method comprising: inserting at least part of the catheter into a lumen along an insertion trajectory that spans from an insertion point to a target; causing the actuator unit to actuate at least one of the one or more drive wires to align the catheter tip with the target; determining the position and/or orientation of the catheter tip with respect to the target; and displaying information about an accuracy of alignment between the catheter tip with respect to the target.