Force Sensor Graphical Interface for Catheter Navigation
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Solution Overview
Problem
Current minimally invasive medical techniques lack an intuitive graphical user interface for effectively managing and controlling flexible and steerable medical instruments, such as catheters, during procedures, which complicates the management of forces encountered during navigation within the patient's anatomy.
Innovation Solution
A system comprising a flexible elongate device with a force sensor that generates force data, a control system to process this data, and a display screen to present a graphical representation of the force encountered by the device's distal portion, including current and changing force values, aiding in intuitive control and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If a flexible elongate device is used to navigate within patient anatomy, then the device can reach target tissue locations through natural orifices or incisions, but the surgeon loses direct tactile feedback about forces encountered during navigation
Solution Approach 1:
The patent introduces force sensors as an intermediary device that measures forces at the distal tip of the catheter and transmits this information to the operator through a graphical user interface. The force sensors act as a mediator between the distal portion of the device and the operator, providing indirect tactile feedback that would otherwise be lost due to the flexibility and length of the catheter.
Solution Approach 2:
The system implements real-time feedback by continuously measuring forces with sensors, processing this data through the control system, and displaying it through the graphical user interface. This closed-loop feedback mechanism allows the operator to adjust their manipulation of the catheter based on real-time force information, compensating for the loss of direct tactile sensation.
2Measurement precision
If force sensors and graphical representation systems are added to provide real-time force feedback, then the surgeon gains intuitive control and precision, but the device complexity increases
Solution Approach 1:
The control system serves multiple functions: it processes force sensor data, generates graphical representations, displays information on the screen, and provides real-time feedback to the operator. By making the control system multi-functional, the patent avoids adding separate dedicated components for each function, thereby managing complexity while achieving precise force measurement and visualization.
Solution Approach 2:
The system creates a graphical copy or representation of the physical forces encountered by the catheter. Instead of directly transmitting mechanical tactile feedback through the flexible catheter, the system creates a visual replica of the force information through the graphical user interface, allowing the operator to perceive forces that would otherwise be lost.
3Object-affected harmful factors
If real-time graphical feedback is provided to improve control precision, then tissue damage is reduced and recovery time decreases, but the loss of time for processing and displaying force data increases
Solution Approach 1:
The system maintains continuous real-time monitoring and display of force information throughout the procedure. The force sensors continuously measure forces, the control system continuously processes this data, and the graphical interface continuously updates to reflect current force conditions. This continuous operation eliminates delays in force feedback, allowing immediate operator response to prevent tissue damage.
Solution Approach 2:
The system establishes the force measurement and visualization infrastructure before the procedure begins. Once set up, the system is ready to immediately process and display force information without requiring setup or calibration during the actual procedure, minimizing time loss while maximizing tissue safety.
Data Source
AI summary
A machine is configured to access force data generated by a force sensor, where the force data quantifies variation in magnitude of a force encountered by a distal portion of an elongate device during a time period in which the distal portion traveled a distance within an environment during a procedure, and where the force data includes a current value of the magnitude of the force. Based on the force data, the machine generates a graphical representation that indicates the force encountered by the distal portion at a point in the procedure relative to an entirety of the procedure, and then causes a display screen to present the graphical representation. Other apparatus and methods are also described.