Catheter Robot Force Sensing With Scotch Yoke Motion Control
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Solution Overview
Problem
Current medical robot-assisted surgery technologies lack real-time force measurement during catheter operations, leading to potential dangers such as perforation due to inaccurate force exertion on the catheter.
Innovation Solution
A robot apparatus with two or more robot units and a load measuring device that senses axial force and torque, using a scotch yoke and rail slider mechanism for precise linear reciprocating movements, enabling coordinated grasp-move-release actions to insert or withdraw surgical devices like catheters with real-time load measurement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If real-time force measurement is added to robot catheter operation, then safety and measurement precision are improved, but device complexity increases
Solution Approach 1:
The load measuring device is integrated within the robot unit structure, with force sensors and torque sensors embedded in the mechanical components. The scotch yoke mechanism is nested within the reciprocating conveyor assembly, allowing multiple functions to coexist in a compact configuration that minimizes overall system complexity while maintaining measurement capabilities
Solution Approach 2:
The robot unit is designed to perform multiple functions: it provides reciprocating motion for catheter insertion/withdrawal, measures axial force, measures torque, and controls catheter manipulation. The scotch yoke mechanism serves both motion conversion and structural support functions, while the load measuring device provides both force measurement and control feedback functions
2Measurement precision
If coordinated control of multiple robot units is implemented, then operation precision and safety are improved, but control complexity increases
Solution Approach 1:
The load measuring device provides real-time feedback on axial force and torque during catheter manipulation. This feedback is used by the controller to adjust the motion of the scotch yoke mechanism and coordinate the grasp-move-release actions of multiple robot units, enabling precise control while maintaining safety through continuous monitoring of applied forces
Solution Approach 2:
The catheter manipulation task is divided into discrete phases: grasp phase, move phase, and release phase. Different robot units are assigned to different phases, with the controller coordinating transitions between phases based on load measurement feedback. This segmentation allows complex coordinated control to be broken down into manageable control steps
Data Source
AI summary
Herein disclosed is a robot apparatus having two or more robot units, each robot unit is configured to maneuver on an intracavity surgical device, such as a catheter, a guide wire, or tools for laser ablation. Also included is a reciprocating conveyor having a motion converter, such as a scotch yoke, coupled with a rail slider to produce linear reciprocating movements to bring the robot units back and forth from and towards a patient. A load measuring device is also included to sense both the axial force and the torque exerted on the surgical device and based on the real time load measurement, to control the scotch yoke and the robot unit more accurately for inserting the intracavity surgical device into or withdrawing it from the surgical subject.