Catheter Force Control Device with Linear Actuator
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Solution Overview
Problem
Manual control of catheter contact force during medical procedures is inadequate, leading to risks of insufficient or excessive force, which can result in ineffective ablation lesions or tissue damage.
Innovation Solution
A hand-held catheter force control device with a linear actuator and force sensor system that maintains a preset contact force by adjusting the catheter position in real-time, using a hybrid PID controller to minimize the difference between actual and desired contact force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual control of catheter contact force is used, then the interventionalist can adjust the catheter position, but the contact force cannot be maintained within the desired range due to tissue motion
Solution Approach 1:
The patent replaces manual mechanical control with an automated robotic system. A robotic catheter manipulation device uses actuators and control algorithms to adjust catheter position and maintain contact force, eliminating the limitations of manual operation while preserving the ability to adjust catheter position reliably
Solution Approach 2:
The system implements real-time feedback control by continuously monitoring contact force through sensors and adjusting catheter position automatically. The control system receives feedback on actual contact force and modifies actuator commands to maintain the desired force range, solving the reliability issue while keeping the system easy to operate through automated control
2Reliability
If excessive contact force is applied to ensure effective ablation, then the ablation lesion is sufficient, but tissue damage and perforation risk increase
Solution Approach 1:
The robotic control system continuously monitors contact force through force sensors and adjusts catheter position in real-time to maintain force within the optimal range. This feedback mechanism ensures sufficient contact force for effective ablation while preventing excessive force that could cause tissue damage or perforation
Solution Approach 2:
The system dynamically adjusts the contact force parameter within a predefined optimal range rather than maintaining a fixed force level. The control algorithm modifies force parameters in real-time based on tissue characteristics and procedural conditions, ensuring effective ablation while minimizing damage risk
3Object-affected harmful factors
If insufficient contact force is applied to avoid tissue damage, then the risk of perforation is reduced, but the ablation lesion becomes ineffective
Solution Approach 1:
The real-time feedback control system monitors contact force and automatically adjusts catheter position to maintain force within the optimal range. This ensures sufficient contact force for effective ablation lesions while preventing force levels that would cause perforation or tissue damage
Solution Approach 2:
The system dynamically adjusts contact force based on real-time conditions rather than using a static force level. The robotic actuator continuously modifies catheter position to maintain force within the optimal range, adapting to tissue motion and procedural variations to ensure both effectiveness and safety
4Reliability
If automated control is implemented to maintain precise contact force, then the contact force stability improves, but the device complexity increases
Solution Approach 1:
The patent employs a robotic catheter manipulation device with integrated sensors and control algorithms to automate contact force maintenance. This mechanical substitution provides stable contact force control while managing complexity through integrated design and automated operation
Solution Approach 2:
The robotic control system performs multiple functions including position control, force measurement, and automated adjustment within a single integrated device. This multi-functionality maintains contact force stability while reducing overall system complexity by combining control functions in one system
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
The device effectively regulates catheter contact force to within a few grams of the prescribed level, reducing the risk of tissue damage and ensuring consistent lesion delivery, even in the presence of cardiac and respiratory motion.
Implementation Method 1
a linear actuator (44, 82, 118) mounted to the base to provide back-and-forth linear motion substantially parallel to the longitudinal axis of the base
Implementation Method 2
a force sensor (90, 122) located at a remote end of the catheter, the remote end configured for contact with a target tissue, the force sensor detecting real-time contact force data
Implementation Method 3
a controller (75, 76, 77, 78, 114, 204) for receiving the real-time contact force data and for generating and communicating a control signal to the linear actuator to minimize a difference between the real-time contact force data and a preset desired contact force
Data Source
Figure 1A~1B
Figure 2A~2B
Figure 3A~3D
AI summary
Described herein is a hand-held catheter force control device comprising: an elongate base sized to be hand-held, the base defining a longitudinal axis between first and second opposing longitudinal ends; a linear actuator mounted to the base to provide linear motion substantially parallel to the longitudinal axis of the base; a sheath clamp coupled to the base, the sheath clamp sized to fixedly capture a sheath handle; a catheter clamp coupled to the linear actuator, the catheter clamp sized to fixedly capture a catheter; and the catheter clamp aligned to be substantially co-axial with the sheath clamp. Systems and methods incorporating the catheter force control device are also described.