Endovascular Robotic Sensor Haptic Feedback Mechanism
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Solution Overview
Problem
Current endovascular robotic systems primarily rely on imaging feedback, neglecting the crucial tactile feedback that vascular surgeons are trained to utilize, resulting in inadequate control and feedback during procedures.
Innovation Solution
A sensor system for endovascular robotic systems that includes a moveable member with a resilient force member and a detection unit, providing real-time haptic feedback by detecting changes in position and transmitting data for precise control, utilizing optical and magnetic field detection methods to mimic the tactile sensations of guide wires and catheters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If existing robotic systems use computer interface control (joystick and PC interface), then automation and precision are improved, but tactile feedback and intuitive control are lost
Solution Approach 1:
The patent implements a feedback mechanism where a resilient force member provides real-time tactile resistance to the moveable member, simulating the tactile feedback that surgeons experience when manipulating guide wires and catheters. This allows the robotic system to maintain automation while preserving the tactile information channel that was previously available through manual instrument handling.
Solution Approach 2:
The resilient force member acts as an intermediary between the moveable member and the user's hand, providing mechanical feedback that bridges the gap between the automated robotic control system and the surgeon's tactile perception. This intermediary component translates robotic system states into tactile sensations that mimic natural instrument manipulation.
2Device complexity
If existing robotic systems provide only imaging feedback, then system complexity is reduced, but surgical control and situational awareness are insufficient
Solution Approach 1:
The resilient force member is configured to automatically provide tactile feedback through its inherent mechanical properties without requiring additional active control systems. The spring-based mechanism self-regulates the resistance force based on the position of the moveable member, providing intuitive tactile cues that assist surgical control without adding significant system complexity.
3Reliability
If a resilient force member provides continuous resistance force, then tactile feedback is improved, but the risk of damage to the moveable member increases
Solution Approach 1:
The resilient force member, being a spring-based element, inherently provides cushioning and shock absorption capabilities. When the moveable member encounters resistance or potential damage scenarios, the spring compresses to absorb impact forces, protecting the moveable member from damage while maintaining continuous tactile feedback during normal operation.
4Measurement precision
If optical detection methods are used to detect moveable member position, then measurement precision is improved, but the system becomes more sensitive to light interference
Solution Approach 1:
A magnetic field detection system serves as an intermediary measurement method that is insensitive to light interference. The detection unit uses magnetic field changes to track the position of the moveable member, providing a complementary or alternative measurement channel that maintains precision without the vulnerabilities of optical methods in certain surgical environments.
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
Enhances the control and feedback for endovascular procedures by providing realistic haptic feedback, reducing the risk of damage and improving fine motor control, allowing for more intuitive and precise operations.
Implementation Method 1
a resilient force member coupled to or integral to the moveable member, wherein the resilient force member is configured to provide a resilient force
Implementation Method 2
The detection unit may use optical means and/or magnetic field means and/or any other suitable means to detect the movement of the moveable member
Implementation Method 3
The detection unit may use optical means and/or magnetic field means and/or any other suitable means to detect the movement of the moveable member
Data Source
AI summary
A sensor (100) for an endovascular robotic system, wherein the sensor comprises: a moveable member (6) moveable between a first position and a second position, a resilient force member (24, 24′) coupled to or integral to the moveable member (6), wherein the resilient force member (24, 24′) is configured to provide a resilient force, when the moveable member (6) is in the second position, to bias the moveable member (6) towards the first position, and a detection unit (104, 193) configured to detect a change in position of the moveable member (6) from the first position to the second position and/or the second position to the first position.