Catheter Robot Module for Translation-Rotation Synchronization
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Solution Overview
Problem
Existing catheter robot modules face synchronization challenges when translation and rotation speeds increase, leading to inefficiencies and reduced control over flexible elongated medical elements, particularly in navigating complex vascular structures.
Innovation Solution
The catheter robot module splits the global synchronization task into two simpler tasks: controlling phase opposition and managing clamping conflicts between pairs of movable pads, using variations in translation and rotation cycles to maintain at least one pair clamped on the element, ensuring smooth and secure movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If translation and rotation speeds are increased to improve catheter robot module efficiency and responsiveness, then productivity and reliability are improved, but global synchronization between pairs of movable pads becomes difficult to manage
Solution Approach 1:
The patent divides the complex global synchronization task into two independent simpler tasks: (1) controlling opposition phase between the two pairs of movable pads, and (2) managing clamping conflict between the pairs. This segmentation allows each task to be handled separately with dedicated control logic, reducing the overall complexity while maintaining high speeds.
Solution Approach 2:
The control unit continuously monitors the positions and states of all movable pads and adjusts their operation in real-time to maintain synchronization. Feedback mechanisms detect phase deviations and clamping conflicts, then automatically correct them through coordinated control of the pads' translation and rotation cycles.
2Reliability
If translation and rotation speeds are increased to enable quick reactions in case of incident or danger, then security and responsiveness are improved, but synchronization control becomes harder to manage
Solution Approach 1:
By segmenting synchronization control into phase opposition management and clamping conflict management, the system can maintain reliable quick reactions without overwhelming control complexity. Each segmented task has dedicated control logic that operates independently, making the overall system more manageable even at high speeds.
Solution Approach 2:
The control unit anticipates potential synchronization issues by continuously monitoring pad positions and predicting future states. Preliminary adjustments are made to prevent clamping conflicts and phase deviations before they occur, ensuring smooth operation even during rapid speed changes.
3Adaptability or versatility
If both pairs of movable pads are used for translation and rotation operations, then functional versatility is improved, but coordination and synchronization between pairs becomes more complex
Solution Approach 1:
The patent segments the coordination task into two independent control loops: one for phase opposition between pairs and another for clamping conflict resolution. This allows both pairs to perform translation and rotation functions while maintaining simple, independent control logic for each function.
Solution Approach 2:
Both pairs of movable pads are designed to perform multiple functions (translation and rotation) through a universal control framework. The same basic control mechanisms apply to both pairs, simplifying coordination while enabling versatile operation across different functional modes.
Data Source
AI summary
Disclosed is a catheter robot module for translation and rotation of a flexible elongated medical element, including: a casing, two pairs of movable pads: the pads of a same pair at least partly facing each other, each pair of movable pads being adapted to separately or in combination: perform a translation of the flexible elongated medical element longitudinally with respect to the casing, by a first translation cycle which clamps, translates forth, unclamps, and translates back, depending on a user set longitudinal translation direction, perform a rotation of the flexible elongated medical element around longitudinal axis with respect to the casing, by a second rotation cycle which clamps, performs a relative forth translation of the pads in opposite directions, unclamps, performs a relative back translation of the pads in opposite directions, depending on a set rotation direction.