Catheter Positioning Sled with Modular Actuator Control
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Solution Overview
Problem
Medical professionals and staff are exposed to high cumulative radiation during procedures involving catheter insertion, leading to potential health risks, and existing shielding solutions are heavy and uncomfortable, causing spinal injuries.
Innovation Solution
A catheter positioning system with a remote controller that includes a sled member with modular plates and actuators, allowing for multiple-axis control of catheters using motors and linkages, reducing radiation exposure and enabling sterile handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If lead shielding (aprons, gowns, glasses) is worn to protect medical personnel from radiation, then radiation protection is improved, but weight and comfort deteriorate, causing spinal injuries
Solution Approach 1:
The patent replaces manual mechanical manipulation of catheters with an automated robotic system that uses motors, lead screws, and drive linkages to control catheter positioning and actuator movement. This eliminates the need for medical personnel to physically handle heavy catheters and positioning equipment, thereby reducing physical strain and spinal injuries while maintaining precise control capability
Solution Approach 2:
The patent introduces a robotic manipulator as an intermediary between the operator and the catheter. The system includes a robotic arm with multiple degrees of freedom that can grasp and manipulate the catheter, transferring control from direct human handling to automated mechanical manipulation. This intermediary reduces radiation exposure to operators while eliminating the need for heavy protective clothing
2Object-affected harmful factors
If a remote controller with motors and linkages is used to control catheter actuators, then radiation exposure is reduced, but device complexity increases
Solution Approach 1:
The robotic manipulator is designed with multiple degrees of freedom and interchangeable end effectors that can accommodate different types of catheters and perform multiple functions including positioning, grasping, and actuator control. This universal design reduces the need for multiple specialized devices, thereby managing system complexity while providing comprehensive remote control capability
Solution Approach 2:
The patent employs a hierarchical control structure where the robotic manipulator integrates multiple subsystems including motors, lead screws, drive linkages, and sensor feedback mechanisms nested within a unified control architecture. This nested organization manages complexity by structuring the system in manageable hierarchical layers with centralized coordination
3Measurement precision
If modular plates with actuator interfaces are used to control multiple catheter actuators, then control precision is improved, but manufacturing complexity increases
Solution Approach 1:
The robotic manipulator is divided into modular segments including base, arm sections, wrist joints, and end effectors that can be independently manufactured and assembled. Each module contains standardized interfaces for motors, sensors, and mechanical connections, facilitating modular manufacturing while maintaining precise control capability through coordinated operation of the segmented components
Data Source
AI summary
Various embodiments provide a catheter positioning device with components for controlling actuators of the catheter in multiple axes. A catheter may be attached to a sled member by a modular plate with one or more actuator interfaces that may couple with the actuators of a catheter handle. One or more motors or drives in the sled member may move the actuator interfaces of the modular plate to control one or more actuators on the catheter in different axes. In various embodiments the sled member may have a clam shell design in which two or more sides of the sled member close around the catheter handle. In further embodiments, the sled member may include adjustable faces that can fit different types of modular plates and thereby control actuators on different types of the catheter.