Minimally Invasive Catheter Alignment for Reliable Sensor Pose
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Solution Overview
Problem
Existing minimally invasive surgical instruments face challenges in accurately determining the shape, pose, and location due to imprecise relative placement of sensor systems, steering systems, and imaging components, especially in dynamic anatomical systems with complex passageways.
Innovation Solution
A catheter system with alignment features and support structures that fix sensor components relative to each other in at least one degree of freedom, ensuring precise positioning and orientation of sensors and steering wires, thereby improving the accuracy of pose and shape calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If sensor systems, steering systems, and imaging components are placed in minimally invasive instruments, then the functionality and capability of the instrument are improved, but the precision of relative placement of these components deteriorates
Solution Approach 1:
The catheter system is divided into modular components including support structures, sensor components, and alignment features that can be independently manufactured and assembled. This segmentation allows each component to be precisely manufactured separately and then reliably connected through standardized alignment interfaces, resolving the contradiction between system functionality and manufacturing precision.
Solution Approach 2:
Alignment features serve as intermediary elements between sensor components, steering systems, and imaging components. These alignment features provide standardized mechanical interfaces that ensure precise relative placement of different subsystems, enabling high functionality while maintaining manufacturing precision through standardized connection protocols.
2Measurement precision
If multiple sensor components and support structures are integrated in the catheter system, then the measurement capability is improved, but the device complexity increases
Solution Approach 1:
Multiple sensor components and support structures are merged into an integrated catheter system where alignment features provide unified mechanical interfaces. This merging reduces device complexity by establishing standardized connection protocols that simplify assembly and reduce the number of unique interface designs needed, while maintaining high measurement precision through consistent component placement.
Solution Approach 2:
The alignment features are designed with universal applicability, serving multiple functions including mechanical support, positional alignment, and orientational reference for different sensor components. This multi-functionality reduces device complexity by using a single standardized interface design across multiple connection points, while maintaining measurement precision through consistent geometric relationships.
Data Source
AI summary
A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor component and the second alignment feature configured to mate with a second sensor component. When the system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature, the first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first and second alignment features.