Closed-Loop Handle Sensing for Continuous Catheter Control
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Solution Overview
Problem
Existing sensing devices for remotely controlling surgical tools like catheters or guide wires lack the ability to mimic the natural motion of actual tools, leading to discrepancies in sensation and limitations in continuous one-way control operations, which can impact surgical success and patient safety.
Innovation Solution
A sensing device with a closed-curve shaped handle and rotating bodies that allow for continuous orbital and rotational movements, coupled with sensors to accurately transmit these motions to a control system, enabling precise remote control of surgical tools.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing sensing devices are operated by buttons or joysticks, then the device structure is simple, but there is a large gap between the sensation felt when actually using the surgical tool and the sensation felt during signal input
Solution Approach 1:
The sensing device copies the shape and movement characteristics of the actual surgical tool (catheter or guide wire) to create a handle that mimics the natural manipulation motion. This allows the operator to feel and control the tool as if directly manipulating it, eliminating the sensation gap while maintaining operational reliability
Solution Approach 2:
The handle is designed with a curved or circular trajectory structure that enables continuous unidirectional movement without requiring reciprocating motion. This curved path copying the natural tool movement improves sensation accuracy while the ergonomic design keeps structural complexity manageable
2Ease of operation
If existing sensing devices are formed in a linear structure, then the device structure is simple, but there is a limitation to the displacement that can be manipulated in one direction
Solution Approach 1:
The handle structure transitions from a linear form to a curved or circular form, enabling continuous unidirectional manipulation along the curved path. This allows the surgical tool to be advanced continuously in one direction without requiring the operator to return the handle to its starting position, achieving ease of continuous operation while the curved structure remains relatively simple
3Productivity
If existing sensing devices require reciprocating movement to return to original position, then the device structure is simple, but the manipulation process is unnatural and limits continuous control operations
Solution Approach 1:
The sensing device enables continuous unidirectional manipulation by designing a handle that moves along a closed curved trajectory. The operator can continuously advance the surgical tool along the curved path without interruption or need to return to the starting position, maintaining continuous useful action and improving both productivity and manipulation naturalness
Solution Approach 2:
The closed curved or circular handle structure provides a continuous manipulation path that eliminates the need for reciprocating motion. This curved design allows the operator to perform continuous control operations in a natural, uninterrupted manner, enhancing both ease of operation and productivity
Data Source
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AI summary
A sensing device is provided. The sensing device according to an aspect of the present disclosure includes a housing including a first side wall member arranged in an up-down direction with respect to a bottom surface; a first handle formed in a closed curve shape, at least a portion of which is exposed to an outside of the housing and placed on a predetermined first surface, and coupled to one side of the first side wall member so as to be capable of orbital movement along an extension direction of the closed curve at a predetermined location on the closed curve; a first rotating body configured to rotate around a predetermined first rotation axis in conjunction with the orbital movement of the first handle; a support member coupled to the housing, and configured to support the first handle such that the first handle maintains a fixed position at the predetermined location; and a first sensor configured to sense information on a rotational movement of the first rotating body.