Steerable Catheter Gimbal Mechanism for Independent Flex Control
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Solution Overview
Problem
Conventional catheter control systems offer limited flexibility, requiring complex combinations of actuation to control the magnitude and direction of catheter flex, making it difficult to intuitively steer a catheter in multiple directions.
Innovation Solution
The use of gimbal plate and ring mechanisms, combined with a cam-and-follower system, allows for independent control of catheter flex magnitude and direction through axial and rotational adjustments of an adjustment member, enabling precise steering of the catheter without rotating the entire device within the patient.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional catheter control systems use multiple levers or dials coupled to pull wires for directional control, then the catheter can be steered in multiple directions, but the control system becomes complex and difficult to operate intuitively
Solution Approach 1:
The control system is segmented into independent magnitude control and direction control functions. The magnitude control adjusts the flex amount of the catheter tip, while the direction control rotates the cam to change the flex direction. This segmentation allows each control to be optimized for its specific function, making the system easier to operate while maintaining full steering capability.
Solution Approach 2:
A single cam structure serves multiple functions: it controls both the magnitude of catheter flex through axial movement and the direction of flex through rotation. This multi-functional design eliminates the need for separate control mechanisms for each parameter, simplifying the overall control system while maintaining versatility in catheter steering.
2Adaptability or versatility
If conventional systems require careful combinations or sequences of actuation for multiple pull wires, then directional control is achieved, but the operation becomes difficult to control
Solution Approach 1:
Multiple pull wire controls are merged into a single cam structure. The cam's axial position controls the magnitude of flex for all pull wires simultaneously, while its rotational position controls the direction. This merging eliminates the need for complex combinations of multiple actuation devices, reducing operational complexity while maintaining full directional control capability.
Solution Approach 2:
The cam acts as an intermediary mechanism between the user's simple rotational and axial movements and the complex multi-wire tension adjustments required for catheter steering. By mediating through the cam's geometry and movement, the system translates simple user inputs into coordinated pull wire tensions, reducing actuation complexity.
3Ease of operation
If independent control of catheter flex magnitude and direction is implemented, then ease of operation improves, but the mechanism complexity increases with gimbal assemblies
Solution Approach 1:
The cam structure is designed to perform both magnitude control (through axial movement) and direction control (through rotation) within a single component. This multi-functionality provides independent control of both parameters without requiring separate mechanisms, thereby improving ease of operation while minimizing the increase in mechanism complexity.
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 provides intuitive, fine control over catheter steering, allowing for precise radial and circumferential adjustments, enhancing the ability to navigate complex anatomical paths without the need for extensive device rotation.
Implementation Method 1
a gimbal ring pivotally connected to the housing, a gimbal plate pivotally connected to the gimbal ring to form a gimbal assembly
Implementation Method 2
the pin can comprise a ball attached at an end of the pin, wherein the ball contacts and rolls on the gimbal plate when the pin is rotationally adjusted
Implementation Method 3
The steerable catheter assemblies can further comprise a rack and pinon mechanism that transfers motion from the gimbal assembly to at least one of the pull wires
Data Source
AI summary
Disclosed herein are steerable catheter assemblies and methods of steering catheters that utilize gimbal plate and ring mechanisms to accomplish independent control of catheter flex magnitude and catheter flex direction. Some embodiments include a catheter with two or more pull wires that flex the catheter, a housing connected to the catheter, a gimbal ring pivotally connected to the housing, a gimbal plate pivotally connected to the gimbal ring to form a gimbal assembly, and an adjustment member coupled to the gimbal assembly, such that the adjustment member is movable axially and rotationally relative to the gimbal assembly. The two or more pull wires are connected to the gimbal plate, the adjustment member engages the gimbal plate such that movement of the adjustment member adjusts the position of the gimbal assembly to thereby flex the catheter with the pull wires.