Robotic Catheter Support Assembly Multi-Axis Articulation
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Solution Overview
Problem
Robotic catheter systems require a highly controllable and minimally sized support arm assembly to accurately position and maintain an instrument driver relative to an operating table, ensuring precise access to deep tissues within a patient while allowing for flexible positioning and repositioning during minimally invasive medical procedures.
Innovation Solution
A support assembly comprising a base attachable to an operating table, an actuator assembly with a rotatable member and brake, and an interface assembly that allows rotation about multiple axes, including a ball joint mechanism providing a leveraged force for precise positioning and locking, along with a sprocket system to maintain the instrument driver's orientation relative to the table.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If a support arm assembly is designed to be minimally sized for precise access to deep tissues, then the system size is reduced and access is improved, but the structural stability and load-bearing capacity deteriorate
Solution Approach 1:
The support arm assembly is divided into multiple segments (first support arm, second support arm, third support arm) connected by articulation assemblies. This segmentation allows each segment to be compact while the overall assembly achieves the required length and stability through multi-axis articulation, resolving the contradiction between minimal size and structural stability.
Solution Approach 2:
The patent introduces multi-axis rotation capabilities (first axis, second axis, third axis) at each articulation assembly, adding dimensional freedom to the support arm structure. This allows the compact assembly to achieve precise positioning and maintain stability through spatial articulation rather than simply increasing linear dimensions.
2Volume of moving object
If the support arm assembly is made compact for minimally invasive access, then patient access is improved, but the range of motion and positioning flexibility deteriorate
Solution Approach 1:
Each articulation assembly incorporates multiple rotational degrees of freedom (first axis rotation, second axis rotation, third axis rotation) that can be dynamically adjusted. This dynamic capability allows the compact support arm assembly to achieve versatile positioning and adapt to different surgical requirements without increasing overall size.
Solution Approach 2:
The multi-axis articulation assemblies are nested within each other, with the second axis rotation assembly contained within the first axis assembly, and the third axis assembly within the second. This nested configuration maximizes positioning flexibility within a compact form factor, resolving the contradiction between compact size and range of motion.
3Adaptability or versatility
If multiple rotation axes are added to the interface assembly for flexible positioning, then positioning capability is improved, but the device complexity increases
Solution Approach 1:
Multiple rotation functions (first axis, second axis, third axis) are merged into integrated articulation assemblies where the rotational mechanisms share common structural elements and mounting interfaces. This merging reduces the overall complexity compared to having separate rotation mechanisms for each axis, while maintaining full positioning capability.
Solution Approach 2:
Each articulation assembly is designed as a multi-functional unit that provides multiple rotation axes and positioning capabilities through a single integrated structure. This universality reduces the number of separate components needed, thereby reducing device complexity while maintaining versatile positioning capability.
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 flexible positioning of the instrument driver over an operating table, allowing for convenient access to deep tissues while maintaining mechanical stability and preventing unintended movement, thereby enhancing the effectiveness of minimally invasive medical procedures.
Implementation Method 1
a brake configured to selectively allow rotation of the rotatable member about a first axis
Implementation Method 2
A lever arm extends through the first extension member, the lever arm subjected to a biasing force to thereby retain the ball joint in a locked position
Implementation Method 3
The ball joint is preferably oriented within the interface assembly to be in an unlocked position due to gravitational force in the absence of being constrained in a locked position by the lever arm
Data Source
AI summary
A support assembly for supporting a remotely-controlled instrument driver, including a first member, a second member for supporting the instrument driver, and an interface assembly for allowing the second member to rotate relative to the first member about a first axis, and for allowing the second member to rotate relative to the first member about a second axis that forms an angle relative to the first axis, wherein the interface assembly comprises a ball that is rotatable relative to the first member, and a shaft extending through the ball, the shaft configured for coupling to the second member.