Catheterization Robot Drive Module Dynamics
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Solution Overview
Problem
In existing catheterization robots, the length of the medical instrument body within the first drive module is wasted when the manipulation area is stopped in front of the module, leading to inefficiency, especially when a Y connector is added, resulting in a greater useless length.
Innovation Solution
The catheterization robot design includes a first drive module with pairs of drive surfaces that move apart to allow the elongate flexible medical instrument to be fully extracted, with a maximum separation distance greater than the instrument's body or manipulation area dimensions, enabling the instrument's full length to be utilized by extending the distance between drive surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the manipulation area of the elongate flexible medical instrument is stopped in front of the first drive module, then the instrument can be securely gripped and manipulated, but the length of the body remaining inside the first drive module becomes useless and wasted
Solution Approach 1:
The patent applies the dynamics principle by making the first drive module movable in longitudinal translation relative to the base, allowing it to dynamically adjust its position. This enables the drive module to follow the manipulation area as it moves along the instrument body, ensuring continuous gripping capability while minimizing wasted length. The dynamic positioning allows the instrument to be fully extended and retracted without catching on the drive mechanism.
2Adaptability or versatility
If a Y connector is added behind the manipulation area, then the instrument can be properly connected and positioned, but the useless and wasted length of the instrument body increases
Solution Approach 1:
The movable first drive module dynamically adjusts its position to accommodate the Y connector and manipulation area configuration. By translating along the longitudinal direction, the drive module maintains optimal positioning for gripping while allowing the Y connector to be properly positioned behind the manipulation area, thus minimizing wasted length while preserving connection capability.
3Ease of operation
If the maximum separation distance between drive surfaces is increased, then the instrument can be fully extracted without catching, but the device complexity increases
Solution Approach 1:
Rather than increasing the static separation distance between drive surfaces, the patent uses dynamic translation of the entire first drive module along the longitudinal direction. This dynamic approach allows the drive surfaces to maintain optimal contact with the instrument body during insertion while enabling full extraction without catching, achieving the extraction capability without significantly increasing structural complexity.
Data Source
AI summary
The invention relates to a catherization robot (1) comprising: a base (10), a first drive module (2) for driving a first elongate flexible medical instrument (4) in longitudinal translation, said first drive module being fixed relative to the base (10) and comprising at least one pair of two drive surfaces (20) which are located face to face and which: either move closer to each other another in transverse translation along a first direction, firstly so as to grip the first elongate flexible medical instrument (4) in order to then be able to drive it in longitudinal translation, or move away from each other in transverse translation along a second direction opposite to the first direction, in order to release the first elongate flexible medical instrument (4) so it is then free for extraction from the catherization robot (1), the maximum value of the separation distance between the two drive surfaces (20) of the first drive module (2), which is reached when the two drive surfaces (20) move apart from each other, being greater than 20 mm.