Endovascular Robotic Roller Assembly for Buckling-Free Device Loading
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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 convenient loading and unloading, and maintaining the correct position of these devices within the assembly.
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 easy 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 into the pathway, but the device complexity increases and the motion constraint reliability decreases
Solution Approach 1:
The loading function is separated from the gear assembly by introducing a dedicated loading assembly with movable walls that can open and close the pathway independently. This segmentation allows the gear assembly to maintain its rotational function while the loading assembly handles the insertion/removal operation, reducing overall system complexity.
Solution Approach 2:
The movable walls act as intermediaries between the external environment and the pathway. These walls can be positioned to allow device insertion through the slot or to block the slot for secure containment during operation, providing a simple mechanical interface that simplifies the gear assembly design.
2Reliability
If the tubular device is constrained between drive rollers, then motion reliability improves and buckling is prevented, but the device complexity increases
Solution Approach 1:
The drive rollers are integrated into the existing gear assembly structure, combining the rotational drive function with the motion constraint function. This merging allows the same mechanical elements to serve dual purposes: transmitting rotational motion and constraining the tubular device to prevent buckling, thereby reducing overall system complexity.
Solution Approach 2:
The drive rollers are designed to perform multiple functions simultaneously: they provide the mechanical drive for device advancement, constrain the device trajectory to prevent buckling, and work in conjunction with the movable walls to enable secure loading and unloading. This multi-functionality reduces the need for separate specialized components.
3Ease of operation
If the pathway is made accessible via the slot for device insertion, then loading convenience improves, but the motion constraint capability deteriorates
Solution Approach 1:
The movable walls are designed to dynamically change their position between open and closed states. During the loading phase, the walls move to open the slot, providing easy access for device insertion. During the operational phase, the walls close to block the slot, ensuring secure motion constraint. This dynamic adaptability allows the system to switch between accessibility and constraint modes as needed.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution ensures reliable motion of tubular devices without buckling, facilitates easy loading and unloading, and maintains the correct position, enhancing the mechanical complexity and efficiency of endovascular procedures.
Implementation Method 1
the trajectory of the tubular device is constrained by and between the drive rollers
Implementation Method 2
a loading assembly configured to modify a spacing between the first drive roller and the second drive roller between a loading state and a loaded state
Implementation Method 3
The slot is configured to load a tubular device into the pathway. Moreover, the slot extends from an outer radial surface of the gear assembly of the pathway
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 having a slot 28 and a loading assembly 34 configured to modify a spacing s between the first drive roller 18 and the second drive roller 20. The spacing of the drive rollers 18, 20 in a loading state L1 leaves the pathway 4 accessible via the slot 28 and the spacing s of the drive rollers 18, 20 in a loaded state L2 prevents the pathway 4 from being accessible via the slot 28. The robotic module assembly 2 provides a reliable motion of the tubular device 14 avoiding buckling.