Catheter Bending Steering Control With Simplified Wheel Calculations
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing catheter kinematic models fail to provide real-time and precise control due to interference from material properties, assembly process, temperature changes, and external forces, leading to deviations in actual motion states.
Innovation Solution
A catheter system with a mechanical arm, power unit, drive wheels, and drive wires, controlled by a processor to calculate angular position changes based on steering instructions, decoupling the calculation of driven wheels from the target position, simplifying the process and shortening response time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a catheter kinematic model is established to map driving wheel angular positions to catheter end posture, then catheter steering control can be achieved, but the control precision deteriorates due to interference from material properties, assembly process, temperature changes, and external forces
Solution Approach 1:
The patent employs feedback mechanisms by using sensors to detect the actual position and posture of the catheter end, then comparing this with the target position. The control system adjusts the driving wheel angular positions based on the detected deviations, compensating for errors caused by material properties, temperature changes, and external forces. This closed-loop feedback ensures high precision catheter steering control despite environmental variations.
Solution Approach 2:
The catheter system incorporates self-adjustment capabilities where the control algorithm automatically compensates for systematic errors arising from material properties and assembly variations. The system uses real-time detection data to self-correct positioning deviations without requiring manual recalibration, maintaining accurate catheter end posture control under varying operational conditions.
2Adaptability or versatility
If the catheter is designed as a flexible continuum structure to navigate complex anatomical paths, then adaptability improves, but the reliability of kinematic modeling deteriorates due to deviations from ideal motion states
Solution Approach 1:
The patent replaces traditional mechanical kinematic modeling with a sensor-based field detection approach. Instead of relying on complex mechanical models of the flexible catheter structure, the system uses sensors to directly detect the catheter end position and posture in real-time. This substitution of direct sensing for mechanical modeling eliminates reliability issues associated with modeling flexible continuum structures, while maintaining the catheter's navigational adaptability.
3Speed
If real-time control of catheter steering is implemented, then response speed improves, but calculation complexity increases due to the need to solve for multiple driving wheel angular positions simultaneously
Solution Approach 1:
The patent segments the catheter control into independent driving wheel units, each controlled by its own drive wire. The control algorithm calculates angular positions for each driving wheel separately based on the detected catheter end posture and target position, rather than solving a complex system of equations for all wheels simultaneously. This segmentation simplifies real-time calculations while maintaining coordinated control of the flexible catheter structure.
Data Source
Figure 1~2
Figure 3~4
Figure 5~6
AI summary
Provided are a catheter bending steering control method, a catheter system, and a readable storage medium. The method comprises: acquiring a position change amount of the tail end of a catheter according to a catheter steering instruction from a master controller (S11), the position change amount comprising a direction angle and a bending angle; determining, according to the position change amount, driving wheels and driven wheels in a plurality of driving wheels, and calculating an angular position change amount of the driving wheel (S12); calculating an angular position change amount of the driven wheel according to the angular position change amount of the driving wheel and a current position proportion allocation coefficient of the corresponding driven wheel (S13); and controlling a driving motor to drive the corresponding driving wheel to rotate according to the angular position change amount (S14). By means of the described manner, bending steering control of the catheter can be achieved, the calculation process of the angular position change amount is simplified, and the response time of the catheter steering instruction is shortened.