Robotic Catheter Drive Wheel Segmentation
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Solution Overview
Problem
Current catheter systems for performing diagnostic and intervention procedures face challenges in efficiently imparting both axial and rotational motion to catheters, which is crucial for precise navigation and treatment within the body's vascular system, particularly in procedures like angioplasty and stent placement.
Innovation Solution
A robotic catheter system with a drive mechanism that includes a drive wheel and an idler wheel with engagement surfaces that interact with the catheter to provide axial motion, and a set of rotational drive assembly wheels with gripping features perpendicular to the catheter axis to facilitate rotation, optimizing the simultaneous delivery of both motions without excessive resistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single wheel with gripping features is used to impart both axial and rotational motion, then the device complexity is reduced, but the ability to independently control axial and rotational motion deteriorates
Solution Approach 1:
The drive mechanism is divided into separate functional components: drive wheels with smooth engagement surfaces for axial motion, and rotational drive assembly wheels with gripping features for rotational motion. This segmentation allows independent control of axial and rotational movements while maintaining manageable device complexity.
2Speed
If gripping features perpendicular to catheter axis are added to drive wheels, then rotational motion is improved, but resistance to axial motion increases
Solution Approach 1:
Different wheel types are assigned to different functional zones: drive wheels with smooth surfaces located for axial propulsion, and rotational drive assembly wheels with perpendicular gripping features located for rotation. This local differentiation ensures each component optimizes its specific function without compromising the other.
Solution Approach 2:
The system uses separate wheel assemblies as intermediaries between the drive mechanism and catheter. Drive wheels transfer axial force through smooth engagement, while rotational drive wheels transfer rotational torque through gripping features, acting as specialized mediators that prevent cross-interference between axial and rotational force transmission.
3Reliability
If composite structure with higher resilience material is interposed in tire, then the durability and comfort are improved, but the manufacturing complexity increases
Solution Approach 1:
The tire is constructed as a composite structure with a resilient material layer (such as rubber or elastomer) interposed between the engagement surface and the hub. This composite construction enhances durability and provides compliant engagement with the catheter, improving reliability while the modular design keeps manufacturing feasible.
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
This solution enables precise and efficient movement of catheters during medical procedures, enhancing the accuracy and effectiveness of interventions by balancing axial and rotational motion, thereby improving treatment outcomes in vascular procedures.
Implementation Method 1
a material or structure of higher resilience is interposed between its engagement surface and the hub on which it is mounted
Data Source
AI summary
A drive mechanism for a robotic catheter system including a first engagement surface and a second engagement surface is provided. The first engagement surface and second engagement surface are configured to engage a catheter device to allow the drive mechanism to impart motion to the catheter device. The first engagement surface is textured to facilitate gripping between the first engagement surface and the catheter device.