Circumferential Puncture Device End for Automated Needle Placement
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Solution Overview
Problem
Irreversible electroporation procedures require precise placement of multiple electrode needles around tumors, which is challenging to achieve manually, limiting the large-scale adoption and consistency of clinical outcomes.
Innovation Solution
A puncture device end with a plurality of puncture needle mounting assemblies disposed circumferentially along an end effector, capable of automated needle placement, and a puncture system including a robotic arm and a passive system that executes operations based on control signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If manual needle placement is used, then the procedure can be performed with simpler equipment, but the precision and consistency of needle placement deteriorates
Solution Approach 1:
The puncture device is divided into multiple independent mounting assemblies, each capable of holding and positioning a needle. The end effector is segmented into multiple stations arranged circumferentially, with each station having its own mounting member. This segmentation allows precise independent positioning of each needle while maintaining overall system manageability.
Solution Approach 2:
The patent replaces manual mechanical needle placement with an automated robotic system. The robotic arm with controlled end effector substitutes human hands, providing consistent, repeatable positioning without manual variability. The movement of mounting members along guide rails and the robotic arm's controlled motion replace manual dexterity with programmable precision.
2Reliability
If automated needle placement system is implemented, then the consistency and precision of the procedure improves, but the device complexity and operational difficulty increases
Solution Approach 1:
The end effector is designed as a universal platform that can accommodate multiple needle types and configurations. The mounting members are standardized and can be positioned at various locations around the circumferential arrangement, allowing the same device to handle different needle placement patterns and tumor configurations through programming rather than physical reconfiguration.
Solution Approach 2:
The system incorporates self-positioning mechanisms where mounting members automatically return to predefined home positions using spring-loaded or gravity-assisted mechanisms. The robotic system uses pre-programmed coordinates and automated control algorithms to ensure consistent positioning without requiring manual adjustment or calibration during each procedure.
3Productivity
If multiple puncture needle mounting assemblies are arranged circumferentially, then the productivity and efficiency of the procedure improves, but the device complexity increases
Solution Approach 1:
Multiple needle mounting functions are merged into a single rotating end effector assembly. Instead of having separate devices for each needle placement, the system combines multiple mounting members on one platform that can be positioned circumferentially around the target. This allows simultaneous or sequential placement of multiple needles through a single integrated device, improving workflow efficiency.
Solution Approach 2:
The system transitions from linear or planar needle arrangement to a three-dimensional circumferential configuration. Mounting members are distributed around the circumference of the end effector, allowing needles to be positioned at different angular locations and depths. This spatial arrangement enables more efficient tumor coverage and allows parallel processing of multiple insertion points.
Data Source
AI summary
Embodiments of the present disclosure provide puncture device ends, puncture systems, and methods for controlling the puncture systems. The puncture device end includes an end effector and a plurality of puncture needle mounting assemblies disposed in a circumferential direction along the end effector. At least one of the plurality of puncture needle mounting assemblies includes a first mounting member disposed at the end effector and a second mounting member disposed at a second end of the end effector. The first mounting member is capable of moving in a first direction relative to the end effector, and the second mounting member is capable of being fixedly provided with respect to the end effector, the first direction being defined by the first mounting member and the second mounting member.