Endovascular Robotic Module Assembly With Curved Loading Slot
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Solution Overview
Problem
Existing robotic module assemblies for endovascular procedures face challenges in constraining the motion of tubular devices to prevent buckling, ensuring proper loading and unloading, and maintaining the tubular device in the right position, with existing solutions being complex and unreliable.
Innovation Solution
A robotic module assembly with drive rollers and a loading assembly that modifies spacing between rollers to constrain tubular devices, featuring a slot with a curved trajectory and a mechanical closure mechanism for reliable motion, and a sensing arrangement to align gears for convenient insertion and removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a closable slot in a gear assembly is used to load the tubular device, then the device can be loaded towards the pathway, but the motion of the tubular device is not properly constrained and the device is complex
Solution Approach 1:
The loading mechanism is segmented into distinct functional components: the gear assembly with slot for loading, the pathway for constrained motion, and the loading assembly with movable drive rollers. This segmentation allows each component to perform its specific function effectively while simplifying the overall system design.
Solution Approach 2:
The drive rollers are made movable between a first position (for loading) and a second position (for constraining motion). This dynamic adjustment allows the system to switch between loading mode and motion constraint mode, resolving the contradiction between loading convenience and motion reliability.
2Reliability
If the tubular device is constrained by drive rollers, then buckling is prevented, but the loading and removal of the device becomes challenging
Solution Approach 1:
The drive rollers are designed to be movable between a first position that allows loading/removal and a second position that constrains the tubular device. This dynamic repositioning resolves the contradiction by providing both loading convenience and motion constraint at different operational stages.
Solution Approach 2:
The loading assembly automatically adjusts the drive rollers from the first position to the second position after loading, and vice versa for removal. This self-adjusting mechanism eliminates the need for manual intervention to switch between loading and constraint modes.
3Reliability
If the drive rollers are arranged in the center of the robotic module assembly, then reliable motion is achieved, but the mechanical complexity increases
Solution Approach 1:
The robotic module assembly is segmented into the gear assembly, the pathway, and the loading assembly with movable drive rollers. This segmentation allows the drive rollers to be positioned centrally for reliable motion while keeping the overall structure organized and manageable.
Solution Approach 2:
The drive rollers serve multiple functions: they constrain the tubular device during motion, facilitate loading when in the first position, and enable removal when in the first position. This multi-functionality reduces the need for additional components, thereby reducing overall mechanical complexity.
Data Source
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AI summary
The invention relates to a robotic module assembly 2 for an endovascular procedure. The robotic module assembly 2 comprises a pathway 4 for accommodating a tubular device 14 for an endovascular procedure, a first drive roller 18 and a second drive roller 20. The robotic module assembly 2 further comprises a gear assembly 26 comprising a slot 28 that extends in a longitudinal direction 30 in parallel to the longitudinal axis 16 through the gear assembly 26. The slot 28 extends from an outer radial surface 32 of the gear assembly 26 to the pathway 4 along a trajectory 6. The trajectory 6 is at least partially curved. It has been found that by providing the slot 28 with a trajectory 6 which is at least partially curved, a specific sitting position of the tubular device 14 can be defined at the pathway 4.