Differential Drive for Precise Catheter Rotation and Feed Control
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Solution Overview
Problem
Current systems for robotic feeding of percutaneous interventional devices, such as guide wires and working catheters, lack precise control over both rotational and translational movements, relying on manual manipulation and feel for guide catheter placement, which can be imprecise and expose medical personnel to radiation.
Innovation Solution
A differential drive mechanism utilizing two motors to provide both rotational and linear movement to elongated percutaneous devices, allowing for precise control over guide wires and working catheters through a platform with operatively connected pinch rollers and gears, enabling controlled advancement and retraction, as well as rotation, by varying the speed and direction of motor operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual manipulation is used for guide catheter placement, then medical personnel can feel the placement status, but precision and radiation exposure control are poor
Solution Approach 1:
The patent replaces manual mechanical manipulation with an automated robotic system that uses pinch rollers and drive mechanisms to grasp and advance the guide catheter. This substitution eliminates the need for medical personnel to manually handle devices in the radiation field while maintaining precise control through robotic actuators and control systems.
Solution Approach 2:
The robotic system acts as an intermediary between the medical personnel and the percutaneous devices. The system includes a robotic arm with a manipulator that holds and advances the guide catheter, allowing operators to control placement from a radiation-shielded location while the robotic intermediary performs the actual manipulation in the radiation field.
2Object-affected harmful factors
If robotic controls are used for device feeding, then radiation exposure is reduced, but control precision over rotational and translational movements is insufficient
Solution Approach 1:
The robotic manipulator is divided into multiple independent segments including a rotatable platform, pinch rollers, and drive mechanisms. Each component can be controlled independently to provide precise rotational and translational movements. The segmentation allows for fine-grained control of the guide catheter's orientation and position through coordinated operation of multiple robotic degrees of freedom.
Solution Approach 2:
The system employs dynamic control of the robotic manipulator with adjustable speed and position of the platform and pinch rollers. The robotic system can dynamically adjust its movements to match the required precision for different phases of catheter insertion, providing both coarse positioning and fine adjustment capabilities through controlled actuation of multiple joints and components.
Data Source
AI summary
A differential drive for manipulating an elongated device includes a drive mechanism configured to provide rotational and linear movement to the elongated percutaneous device. The drive mechanism including a platform rotatably supported by a support and a linear drive operatively coupled to the platform. A first motor operatively rotates the platform relative to the support and moving a portion of the linear drive relative to the platform. A second motor operatively rotates the platform relative to the support and moving a portion of the linear drive relative to the platform.