Continuum Robot Extraction with Motion Compensation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing articulated medical devices face challenges in safely extracting themselves from a patient's anatomy, particularly due to changes caused by breathing and other movements, which can lead to abrasion or trauma as the extraction route differs from the insertion route.
Innovation Solution
A medical apparatus with a single sheath containing two bendable segments, a controller to manage these segments, and sensors to measure and record patient movements, allowing for controlled insertion and extraction that accounts for respiratory and other movements to maintain anatomical integrity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If follow-the-leader motion is used to control continuum robot, then the robot can navigate through tortuous structures, but the extraction route may differ from insertion route due to patient movement, causing abrasion or trauma
Solution Approach 1:
The system records the insertion route and patient anatomy shape during insertion, storing this data for later use during extraction. This preliminary recording allows the system to compensate for anatomical changes during extraction by referencing the stored baseline information.
Solution Approach 2:
The system continuously monitors patient movements using sensors and uses this feedback to adjust the robot's extraction path in real-time. The controller compares current anatomical shape with recorded data and modifies the extraction route accordingly to prevent trauma.
2Duration of action of moving object
If breathing motion is present during extraction, then the airway shape changes, but FTL control assumes constant shape, causing following sections to contact differing anatomy
Solution Approach 1:
The system transitions from static FTL control to dynamic control by continuously monitoring patient breathing and movements. The controller adjusts the robot's configuration in real-time based on detected anatomical changes, making the extraction process adaptive to dynamic physiological conditions.
Solution Approach 2:
The system changes the control parameters from assuming constant anatomical shape to using real-time measured shape data. Sensors detect breathing-induced shape changes and the controller modifies extraction path parameters accordingly to maintain safety margins.
3Reliability
If sensors and controllers are added to track patient movements, then extraction safety improves, but device complexity increases
Solution Approach 1:
The system uses multi-functional sensors that can detect both patient breathing and robot position simultaneously. The controller performs multiple functions including real-time shape reconstruction, path planning, and trauma prevention, reducing the need for separate dedicated components.
Solution Approach 2:
The sensing and control systems are integrated within the existing robot structure. Sensors are embedded in the robot's segments, and the control system is nested within the robot's control architecture, minimizing additional external components.
Data Source
AI summary
The subject disclosure is directed to an articulated medical device having a sensor for detecting outside movements applied upon the medical device while in a subject or patient, wherein the device is capable of maneuvering within the subject or patient while taking the outsides movements into consideration.