Catheter Target Locking via Sensor Feedback Control
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Solution Overview
Problem
Bendable medical devices face challenges in maintaining alignment with a target due to external forces, which can alter the device tip's alignment, leading to difficulties in precision and efficiency during medical procedures.
Innovation Solution
A medical apparatus comprising a bendable body with control wires and sensors, along with a controller that determines a reference element and acceptable deviation, allowing the device to bend, rotate, or translate to maintain alignment within predefined margins, counteracting external forces to ensure precise targeting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If bendable medical devices are used to provide flexible access within a patient, then the device can navigate complex anatomical paths to reach the target, but external forces can alter the alignment of the device tip with the target, reducing positioning precision
Solution Approach 1:
The system continuously monitors the position of the device tip relative to the target using sensors and imaging systems, providing real-time feedback to the controller. The controller processes this feedback information and automatically adjusts the device's position and orientation to maintain alignment within the acceptable deviation threshold, resolving the contradiction between flexible navigation and precise positioning.
Solution Approach 2:
The system performs self-correction by automatically detecting deviations from the reference trajectory and adjusting its own position without requiring manual intervention. The controller autonomously counteracts external forces by modifying the device configuration, enabling the system to maintain precision while retaining flexibility.
2Adaptability or versatility
If the device allows bending and flexibility to reach the target, then the device can adapt to anatomical variations, but maintaining alignment against external forces requires continuous adjustment, increasing procedural time
Solution Approach 1:
The system continuously monitors device position and automatically makes adjustments to maintain alignment, eliminating interruptions and manual repositioning. This continuous operation ensures the device remains aligned throughout the procedure, reducing the time lost to manual adjustments while maintaining adaptability to anatomical variations.
Solution Approach 2:
The system replaces manual mechanical adjustment with automated electronic control. Sensors detect position deviations and the controller automatically actuates adjustment mechanisms, substituting the time-consuming manual mechanical repositioning with rapid electronic control, thereby reducing procedural time while maintaining anatomical adaptability.
3Ease of operation
If manual control is used to maneuver the device, then the physician can adjust the device position, but external forces can still alter alignment, reducing reliability of targeting
Solution Approach 1:
The controller acts as an intermediary between the physician's manual control inputs and the device's actual position. It receives feedback about external forces and desired position, processes this information, and automatically adjusts the device to compensate for external forces, ensuring the device reaches and maintains the target position with high reliability while preserving manual operability.
Data Source
AI summary
Methods and systems are provided for maintaining alignment of an articulated medical device which allows a reference element or reference trajectory to be set at a location within a subject. A medical tool can be guided through the device and facilitating medical procedures, including endoscopes, cameras, and biopsy tools, to a target when the articulated medical device is subjected to external forces that cause a deviation in the trajectory towards the target.