Catheter Robot Translation Modules Synchronization
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Solution Overview
Problem
Existing catheter robots face complexity in synchronizing the translation motions of multiple flexible elongated medical elements, particularly when these elements need to move independently or in synchronization with each other, especially under variable user inputs regarding speed and direction.
Innovation Solution
A global translation system is introduced, where the motion is split into synchronized and user-input-specific parts, allowing translation modules to translate independently while maintaining synchronization, with each module capable of translating its associated medical element without moving itself, and enabling both translation and rotation motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple translation devices are used to translate flexible elongated medical elements independently, then each element can move independently, but synchronizing the translation motions becomes complex
Solution Approach 1:
The patent merges the translation functions of multiple flexible elongated medical elements by coupling the translation devices so that they share a common drive mechanism. This allows synchronized translation motion to be achieved through a single coordinated action rather than requiring separate control of multiple independent devices, thereby reducing synchronization complexity while maintaining independent motion capability through selective engagement.
2Adaptability or versatility
If translation devices are synchronized to move multiple elements together, then synchronous translation is achieved, but the system becomes more complex to control
Solution Approach 1:
The patent segments the translation function into two independent parts: a common synchronized translation motion provided by a shared drive mechanism, and individual relative translation motions provided by separate translation devices that can be selectively engaged. This segmentation allows the system to achieve synchronous motion when needed while maintaining operational simplicity through modular control of each segment.
3Adaptability or versatility
If variable speed and direction inputs are applied to each translation device, then specific translation moves are achieved, but synchronization between devices becomes more difficult
Solution Approach 1:
The patent introduces a coupling mechanism as an intermediary between the common drive and individual translation devices. This intermediary transmits the common synchronized translation motion to multiple elements while allowing selective engagement of individual translation devices for relative motion adjustments. The intermediary decouples the control complexity by providing a standardized interface that simplifies the coordination of variable speed and direction inputs across multiple devices.
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 approach simplifies the system, allowing for efficient and independent translation of multiple flexible elongated medical elements, enhancing flexibility and reducing complexity, especially in over-the-wire and rapid exchange configurations, while maintaining synchronization and avoiding collisions.
Implementation Method 1
each catheter translation module comprising at least one pair of movable pads: said pads of a same pair at least partly facing each other, said pair clamping between its pads a flexible elongated medical element so as to then translate longitudinally said flexible elongated medical element
Data Source
AI summary
Disclosed is a catheter robot including: a base supporting at least three catheter translation modules, each module including a pair of movable pads: the pads of a pair at least partly facing each other, the pair clamping therebetween a flexible elongated medical element to then translate longitudinally the such element, the catheter translation modules being successively longitudinally disposed so that: first module has its pairs of pads performing a longitudinal translation of a first flexible elongated medical element which is a catheter guide, second catheter translation module: can translate longitudinally with respect to the first module, its pairs of pads performing a longitudinal translation of a second flexible elongated medical element, third catheter translation module: can translate longitudinally with respect to the first catheter translation module, its pair of pads performing a longitudinal translation of the second flexible elongated medical element or a third flexible elongated medical element.