Finite Range Drive Mechanism for Catheter Insertion
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Solution Overview
Problem
Existing robotic interventional systems for minimally invasive surgery face challenges in efficiently inserting and rotating catheter components due to the need for complex mechanisms that may not be compatible with sterile environments and require infinite motion, which complicates the insertion and rolling of catheter components.
Innovation Solution
The development of a drive apparatus with a dynamic gripper and static gripper system that allows for axial and rotational movement of elongated members like catheters and guidewires within a finite range, enabling independent control of insertion and rotation, and facilitating top loading to simplify component handling and maintain sterility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a roller mechanism with infinite motion is used for inserting catheter components, then the insertion can be performed, but the mechanism becomes more complex and requires more complex catheter component loading procedures
Solution Approach 1:
The gripping device is segmented into multiple independently controllable gripping elements that can selectively engage and disengage from the catheter component. This allows the complex insertion motion to be broken down into simpler, controlled gripping actions, reducing the overall mechanism complexity while maintaining operational capability.
Solution Approach 2:
The gripping device transitions from a static, fixed-position roller to a dynamic mechanism with movable gripping elements that can adjust their position and engagement state. This dynamic capability allows the device to adapt to different catheter component configurations and loading procedures, simplifying operation without requiring complex fixed mechanisms.
2Adaptability or versatility
If a roller mechanism with infinite motion is used, then insertion can be performed, but it is not compatible with replaceable components adapted for sterile operating environments
Solution Approach 1:
The gripping device is extracted from the sterile field and positioned outside the sterile barrier, allowing replaceable catheter components to be loaded and manipulated in a controlled manner. This separation enables the use of sterile, replaceable components while keeping the complex gripping mechanism in a non-sterile zone, maintaining both adaptability and reliability.
Solution Approach 2:
An intermediary loading mechanism is introduced between the gripping device and the catheter component, facilitating the transfer of the component into the sterile field. This intermediary structure allows replaceable components to be properly positioned and secured without requiring the gripping device itself to penetrate the sterile barrier, ensuring compatibility with sterile operating environments.
3Productivity
If the moveable component is configured to move the elongated member across a predetermined movement greater than the range of motion, then continuous insertion can be achieved, but the gripping device must release and re-engage multiple times
Solution Approach 1:
The gripping elements are pre-positioned and pre-configured to engage the catheter component at the optimal moment in the insertion cycle. This preliminary positioning allows the component to be securely held during the movement phase without requiring continuous adjustment or re-engagement, maintaining high insertion speed while simplifying the control of the gripping cycle.
Solution Approach 2:
The gripping device is designed to maintain continuous engagement with the catheter component throughout the insertion movement, eliminating the need for release and re-engagement cycles. This continuous useful action allows the elongated member to be moved across the full predetermined range without interruption, maximizing productivity while avoiding the complexity of managing multiple gripping cycles.
Data Source
AI summary
Various exemplary drive apparatuses and associated methods are disclosed for driving an elongated member, e.g., a catheter, sheath, or guidewire. An exemplary drive apparatus may include a first component and a moveable component, each configured to selectively grip the elongated member. In some examples, the first and moveable components may each include a gripping device. The moveable component may be configured to selectively move axially and rotationally with respect to a support surface to effect axial movement and rotation movement, respectively, of the elongated member with respect to the support surface within a range of motion of the moveable component. The moveable component may be configured to move the elongated member across a predetermined movement having a magnitude greater than the range of motion.