Catheter Holding Control for Interchangeable Probe Navigation
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Solution Overview
Problem
Manufacturing a catheter that includes mechanical structures for remote operation and has a diameter small enough to navigate small body lumens, such as those found in the lungs, is challenging due to the need for features like a tool-mounted flexible distal tip, tendons, lumens for suction and irrigation, a vision system, and sensors, which are difficult to accommodate in a 3 mm or less diameter.
Innovation Solution
A catheter control system with a holding mode that maintains a desired working configuration, allowing interchangeable probes, and a feedback control method with multiple stiffening modes for different applications, using real-time sensor feedback to control actuators and tendons for precise catheter movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the catheter diameter is reduced to 3 mm or less to navigate small lumens, then the ability to access small body passages is improved, but the space available to accommodate mechanical structures for remote operation is reduced
Solution Approach 1:
The catheter is divided into functional segments: a flexible distal tip section for navigation, intermediate sections for housing tendons and sensors, and a proximal control section. This segmentation allows each part to be optimized for its specific function while maintaining overall small diameter.
Solution Approach 2:
Multiple functional elements are nested within each other: tendons are housed within lumens, sensors are embedded within the catheter wall, and the vision probe is positioned within the distal tip. This nesting maximizes space utilization within the constrained diameter.
2Adaptability or versatility
If the catheter includes all desired features (tool, tendons, lumens, vision system, sensors) for remote operation, then the functionality is improved, but the difficulty of manufacturing and assembling within small diameter is increased
Solution Approach 1:
The catheter is designed as a universal platform that can accommodate different probes (vision probe, medical probe) through a common distal tip mechanism. The control system provides multi-functional capabilities including navigation, visualization, and actuation through a single integrated structure.
Solution Approach 2:
The catheter is pre-assembled with tendons, lumens, and sensors in a controlled manufacturing environment before reaching the patient. The distal tip is pre-configured with the vision probe or medical probe, allowing complex assembly to be completed during fabrication rather than during the procedure.
3Ease of operation
If the catheter uses a flexible distal tip for navigation, then the ability to follow branching passages is improved, but the control precision for maintaining working configuration is reduced
Solution Approach 1:
Sensors embedded in the catheter provide real-time feedback on the distal tip position and orientation. This feedback is fed to a control system that actively compensates for flexibility-induced deviations, maintaining precise working configuration despite the flexible nature of the distal tip.
Solution Approach 2:
The catheter control system dynamically adjusts tension in tendons and actuator positions in real-time to compensate for the flexible distal tip's deformation. This dynamic control allows the system to adapt to changing anatomical conditions while maintaining precision.
4Adaptability or versatility
If the catheter accommodates interchangeable probes (vision probe and medical probe), then the versatility is improved, but the structural complexity for probe exchange mechanisms is increased
Solution Approach 1:
The probe interface is segmented into a standardized distal tip connector and separate probe units. This allows the distal tip to remain as a permanent, simple component while probes can be independently selected and exchanged without affecting the main catheter structure.
Solution Approach 2:
The distal tip is designed with a universal interface that accepts different probe types (vision probe, medical probe) through a common mounting mechanism. This universal design simplifies the exchange process by using a single standardized connection interface rather than separate mechanisms for each probe type.
Data Source
AI summary
A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor.