Robotic Catheter Position Detection Using Reflective Flexible Track
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Solution Overview
Problem
Current robotic catheter systems lack an effective method to detect and maintain the position of a guide catheter support during medical procedures, which can lead to instability and inaccuracies in guiding catheters within the body.
Innovation Solution
A catheter procedure system that includes a robotic mechanism with a flexible track having reflective sections and a position detector to accurately determine the position of the guide catheter's distal end, ensuring precise positioning and support.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a flexible track is used to support the guide catheter during robotic procedures, then the catheter positioning stability is improved, but the ability to accurately detect the track position deteriorates
Solution Approach 1:
The flexible track incorporates reflective sections that interact with light to create detectable optical signals. These sections reflect light differently based on their position, allowing the position detector to accurately determine track location despite the track's flexibility and movement during catheter procedures.
Solution Approach 2:
A position detector is introduced as an intermediary device between the flexible track and the control system. This detector uses optical fields to non-contactively sense the position of the flexible track, enabling accurate position detection without mechanically coupling to or restraining the flexible track's natural movement.
2Ease of operation
If manual manipulation of the guide catheter is performed, then the operator has direct control over catheter placement, but positioning precision and stability deteriorate
Solution Approach 1:
The system implements real-time feedback by continuously detecting the position of the flexible track and providing this information to the control system. This feedback loop enables the robotic mechanism to maintain precise control of the guide catheter while the operator can monitor and adjust positioning as needed, combining robotic precision with operator oversight.
Solution Approach 2:
The system replaces manual mechanical manipulation with a robotic mechanism that uses optical detection and automated control. The robotic mechanism can precisely position the guide catheter based on detected track position, eliminating the imprecision of manual manipulation while maintaining operator control through the control system.
3Reliability
If the guide catheter is held in place during PCI procedures, then catheter slippage is prevented, but the ability to relocate the catheter when needed deteriorates
Solution Approach 1:
The system dynamically adjusts between holding the catheter in place and relocating it based on procedural needs. The robotic mechanism can maintain stable positioning when required while also being capable of rapid relocation when the operator determines it is necessary, with the flexible track and optical detection system enabling seamless transition between these states.
Solution Approach 2:
The system changes the control parameters of the robotic mechanism based on procedural requirements. When stable positioning is needed, the system maintains the current position with high precision. When relocation is needed, the system adjusts control parameters to enable smooth movement to a new position, all while maintaining awareness of catheter location through the optical detection 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
Enables precise and stable positioning of guide catheters, reducing the risk of slippage and improving the accuracy of catheter placement during procedures like PCI, by using a flexible track with reflective sections and a position detector to monitor the catheter's position.
Implementation Method 1
a position detector mounted to the robotic drive base and positioned beneath the flexible track, the position detector configured detect light reflected off of the reflective sections of the flexible track
Data Source
AI summary
A catheter procedure system includes a base and a robotic mechanism having a longitudinal axis and being movable relative to the base along the longitudinal axis. The robotic mechanism includes a robotic drive base including at least one drive mechanism, a cassette operatively secured to the robotic drive base, a rigid guide coupled to the cassette and fixed relative to the robotic mechanism and a flexible track having a distal end, a proximal end and a plurality of reflective sections. At least a portion of the flexible track is disposed within the rigid guide. The robotic mechanism also includes a position detector mounted to the robotic drive base and positioned beneath the flexible track. The position detector is configured to detect light reflected off of the reflective sections of the flexible track and to determine the position of the distal end of the flexible track based on the detected reflected light.