Catheter Robot Interface for Speed-Translation and Precise Rotation
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Solution Overview
Problem
Existing catheter robots face challenges in achieving a balance between precise and fast translational and rotational movements of elongated flexible medical instruments, particularly during the introduction into a patient's blood vessels, leading to inefficiencies and ergonomic issues for practitioners.
Innovation Solution
A catheter robot with a human-machine interface that controls the translational drive in speed and rotational drive in position, using a mobile control organ with a safety element and haptic feedback, allowing for precise and ergonomic manipulation of the instrument.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If translational movement is controlled in position, then precision is improved, but speed deteriorates
Solution Approach 1:
The control system dynamically switches between position control mode and speed control mode for translational movement. During phases requiring precision (e.g., final positioning), position control is activated. During phases requiring speed (e.g., initial insertion), speed control is activated. This dynamic adaptation resolves the contradiction by allowing the system to optimize for either precision or speed depending on the operational context.
2Speed
If rotational movement is controlled in speed, then speed is improved, but precision deteriorates
Solution Approach 1:
The control system dynamically switches between speed control mode and position control mode for rotational movement. When rapid rotation is needed, speed control is engaged. When precise angular positioning is required, position control is engaged. This dynamic mode switching allows the system to achieve both high rotational speed and high rotational precision as needed.
3Measurement precision
If translational movement is controlled in position, then precision is improved, but productivity deteriorates
Solution Approach 1:
The system dynamically adapts the control mode for translational movement based on the procedural phase. During initial introduction where speed is critical for productivity, speed control mode is used. During final positioning where precision is critical, position control mode is used. This dynamic adaptation maximizes productivity while maintaining necessary precision at each stage.
4Measurement precision
If rotational movement is controlled in position, then precision is improved, but ease of operation deteriorates
Solution Approach 1:
The control system incorporates feedback mechanisms that provide the operator with intuitive information about the instrument's state and response. This feedback helps the operator understand the relationship between control inputs and actual movements, making position control more intuitive and easier to operate. The feedback may include visual displays, haptic feedback, or force feedback that enhances the operator's perception and control.
Data Source
AI summary
A catheter robot including a drive module for an elongated flexible medical instrument, in translation along a main elongation axis of the elongated flexible medical instrument and in rotation around the main elongation axis of the elongated flexible medical instrument, simultaneously or alternatively, a human-machine interface for controlling the drive module. The human-machine interface is structured to, in a first mode of operation, control the translation drive of said elongated flexible medical instrument in speed, and control the rotation drive of said elongated flexible medical instrument in position.