Continuum Robot Safe Mode Emergency Catheter Removal
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Solution Overview
Problem
Existing steerable continuum robots, or 'snake systems,' lack a safe and efficient mechanism for emergency removal of a steerable catheter from a patient, which can lead to potentially harmful situations during medical procedures.
Innovation Solution
A robotic apparatus comprising a continuum robot with a controller that includes a safe mode to disengage the driver from the wires, allowing for immediate and safe release of the catheter during emergency situations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the catheter is attached to the actuation unit with drive wires connected to actuators, then the catheter can be steered and controlled during the procedure, but emergency removal becomes complex and potentially harmful due to lack of a safe disengagement mechanism
Solution Approach 1:
The connection system is divided into two independent parts: the catheter hub attachment to the actuation unit base, and the individual drive wire connections to actuators. This segmentation allows the drive wires to be disconnected from actuators independently while leaving the catheter hub attached to the base, enabling safe emergency removal without requiring complete system disassembly.
Solution Approach 2:
The drive wires are extracted as separate, independently connectable components from the actuation unit. Each drive wire can be disconnected from its corresponding actuator through a release mechanism, allowing the catheter to be freed from driving forces while remaining attached to the base structure, thus enabling controlled emergency removal.
2Ease of operation
If the drive wires remain connected to the actuation unit during catheter insertion, then the catheter can be properly actuated, but the catheter cannot be removed emergency situations
Solution Approach 1:
The drive wire connection system is designed with pre-configured attachment and release mechanisms that allow rapid disengagement. The release mechanisms are prepared in advance within the actuation unit, enabling quick action during emergency situations without requiring complex real-time decision-making or multi-step procedures.
3Productivity
If the catheter is removed without a safe disengagement mechanism, then removal can be performed quickly, but the patient may be harmed by uncontrolled catheter movement or retained driving forces
Solution Approach 1:
The system incorporates sensors that detect the connection state of drive wires to actuators and provide feedback to the control system. This feedback enables the controller to monitor whether drive wires are properly connected before allowing catheter actuation, and to detect when wires are disconnected, preventing uncontrolled catheter movement and ensuring safe emergency removal procedures.
Data Source
AI summary
A continuum robot having at least two independently manipulateable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates a system, method and apparatus for rapid removal of the catheter in emergency situations. The continuum robot including a first bending section having a distal end and a proximal end wherein the first bending section is bent by at least one wire; a driver that drives the at least one wire; and a controller that controls a driving amount of the wire, wherein, the driver further comprises a safe mode that disengages the driver from the at least one wire.