Robotic Catheter Controller Maintains Steering Wire Tension
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Solution Overview
Problem
Current robotic catheter systems lack precise and dynamic automated control, leading to procedural variability due to user skill levels and the need for maintaining minimal tension on steering wires to prevent unresponsive states during medical procedures.
Innovation Solution
A robotic catheter system with a controller that measures and maintains a predetermined force range on steering wires through linear translation, ensuring minimal tension and preventing slack, allowing for precise and dynamic movement of the catheter's distal portion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual control of catheter is used, then user skill level determines procedural variability, but automated control requires complex systems with force sensors and dynamic translation mechanisms
Solution Approach 1:
The controller continuously measures the force applied to control members through force sensors and dynamically adjusts the position of control elements to maintain force within a predetermined range. This closed-loop feedback system ensures consistent catheter tension and positioning, eliminating procedural variability associated with manual operation while managing complexity through automated control algorithms.
Solution Approach 2:
The system automatically monitors and adjusts control element positions based on real-time force measurements, enabling self-regulating tension maintenance on steering wires. The controller independently manages force distribution without requiring continuous manual intervention, achieving procedural consistency through autonomous operation.
2Reliability
If tension on steering wires is increased to prevent slack, then catheter responsiveness improves, but excessive tension may cause mechanical stress or damage
Solution Approach 1:
The system dynamically adjusts the force parameter applied to control members, maintaining it within a predetermined optimal range. By continuously monitoring force levels and making real-time adjustments, the system ensures sufficient tension for catheter responsiveness while preventing excessive mechanical stress that could damage components. This parameter optimization balances performance and safety.
3Measurement precision
If dynamic control of control elements is implemented to maintain force range, then precision in catheter positioning is improved, but system response time and control complexity increase
Solution Approach 1:
The controller continuously measures force on control members and maintains adjustment of control element positions without interruption. This continuous operation ensures precise catheter positioning is maintained throughout the procedure, with the system constantly adapting to changing conditions. The uninterrupted control action eliminates positioning errors while managing response time through seamless operation.
Data Source
AI summary
An apparatus for maintaining a robotic catheter system in a responsive state includes a catheter, a plurality of linear translatable control elements, and a controller. In an embodiment, the catheter includes a proximal portion, a distal portion, and at least two steering wires. The steering wires may be configured at one end to control the movement of at least a portion of the distal portion of the catheter and at the other end for connection to a control member. In an embodiment, each control element may be configured to engage or interface with a respective control member, and the controller may be configured to measure a force exerted on at least one control member by a respective control element and further configured to linearly translate the control element to substantially maintain a force within a predetermined range.