Robotic Catheter Jaw Drive for Buckling-Free Navigation
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Solution Overview
Problem
Existing robotic catheter systems face challenges in navigating tortuous anatomy due to buckling of flexible leader catheters and guidewires, and the complexity of robotic manipulations, which are exacerbated by the need for additional carriages and anti-buckling devices that increase the size and complexity of the instrument driver.
Innovation Solution
The instrument driver incorporates a telescoping catheter assembly with a slidable carriage and feeder mechanism, featuring opposing gripping elements to actively advance the catheter within the sheath body, and a drive mechanism to roll the guidewire, while utilizing motors for controlled articulation and retraction, and a jaw assembly for gripping and translating elongated medical devices.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If additional carriages and anti-buckling devices are added to prevent buckling of flexible leader catheters and guidewires, then reliability of catheter navigation is improved, but device complexity and size of the instrument driver increase
Solution Approach 1:
The patent combines the anti-buckling function with the existing carriage structure by integrating a feeder mechanism into the carriage. This eliminates the need for separate anti-buckling devices while maintaining catheter navigation reliability through the coordinated action of the feeder mechanism and carriage.
Solution Approach 2:
The carriage is designed to perform multiple functions: it serves as both the positioning mechanism for the catheter and the anti-buckling support structure through its integrated feeder mechanism. This multi-functionality reduces the overall number of components needed in the system.
2Reliability
If additional carriages and anti-buckling devices are added to prevent buckling of flexible leader catheters and guidewires, then reliability of catheter navigation is improved, but the length of the instrument driver increases
Solution Approach 1:
The patent merges the anti-buckling support function into the existing carriage structure, eliminating the need for additional separate devices that would extend the length of the instrument driver. The integrated feeder mechanism provides compact anti-buckling support.
3Device complexity
If manual navigation techniques are used, then device complexity is reduced, but precision and control of catheter manipulation in tortuous anatomy deteriorates
Solution Approach 1:
The patent replaces manual mechanical manipulation with an automated robotic system that uses a motorized carriage and feeder mechanism. This substitution provides precise control of catheter insertion and retraction while maintaining manageable system complexity through integrated design.
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 design prevents buckling of leader catheters and guidewires, reduces the size and complexity of the instrument driver, and enables precise robotic navigation through tortuous anatomy without increasing the length of the system, enhancing operational efficiency and ease of use.
Implementation Method 1
at least one motor configured for translating the slidable carriage distally towards the sheath interface to translate the proximal catheter adapter towards the proximal sheath adapter
Implementation Method 2
a feeder mechanism affixed between the sheath interface and slidable carriage for engaging the catheter body
Implementation Method 3
a jaw assembly coupled to the base... translating the first and second jaws toward each other, thereby closing the jaw assembly and gripping the elongated member between the respective gripping surfaces
Data Source
AI summary
An instrument driver comprises a base and a jaw assembly coupled to the base. The jaw assembly includes a first jaw having a gripping surface and a second jaw having a gripping surface. The instrument driver further comprises a driver assembly operably coupled to the jaw assembly to advance an elongated member relative to the base by translating the first and second jaws toward each other, thereby closing the jaw assembly and gripping the member between the respective gripping surfaces of the first and second jaws, translating the jaw assembly in a first axial direction when the jaw assembly is closed, translating the first and second jaws away from each other, thereby opening the jaw assembly and releasing the member from between the respective gripping surfaces of the first and second jaws, and translating the jaw assembly in a second axial direction when the jaw assembly is opened.