Guidewire Clutching Control for Finite-Motion Drive Interfaces
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Solution Overview
Problem
Robotic surgical systems face challenges in continuously driving medical instruments like guidewires due to their finite range of motion, requiring frequent clutching and re-gripping, which disrupts the surgical procedure with temporary interruptions.
Innovation Solution
A controller determines the user interface status and drive mechanism location to selectively clutch the guidewire, optimizing clutching locations and minimizing interruptions by dynamically adjusting the clutching mechanism based on user input and system constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the drive mechanism operates with a finite range of motion, then the device structure is simplified and more reliable, but the guidewire cannot be driven continuously requiring frequent clutching and re-gripping
Solution Approach 1:
The drive mechanism is divided into multiple drive sections along the catheter body, each with its own drive mechanism. This segmentation allows different sections to operate independently, enabling continuous guidewire advancement even when one section reaches its range of motion limit by engaging the next section.
Solution Approach 2:
The system maintains continuous guidewire driving action by coordinating multiple drive sections. When one drive section completes its range of motion, another section is activated to continue the driving action, ensuring the guidewire can be advanced continuously without interruption or manual re-gripping.
2Adaptability or versatility
If frequent clutching and re-gripping is performed to overcome finite range of motion, then the guidewire can be driven beyond the drive mechanism limits, but the surgical procedure is interrupted and efficiency is reduced
Solution Approach 1:
Multiple drive sections work in sequence to maintain continuous guidewire driving action. As one drive section reaches its operational limit, the system automatically transitions to the next drive section without releasing the guidewire, eliminating the need for manual clutching and re-gripping operations that cause procedural interruptions.
Solution Approach 2:
The drive sections are pre-positioned along the catheter body at specific intervals. This preliminary arrangement allows the system to anticipate and prepare for range of motion limits, automatically engaging the appropriate drive section before the guidewire advancement is interrupted, thereby maintaining continuous operation.
3Productivity
If multiple drive sections are implemented to enable continuous driving, then the guidewire can be driven continuously without interruptions, but the device complexity increases
Solution Approach 1:
Each drive section uses the same basic drive mechanism design, making them universal and interchangeable. This multi-functionality allows a single proven drive mechanism design to be replicated multiple times along the catheter, achieving continuous driving capability without proportionally increasing overall system complexity.
Solution Approach 2:
The control systems for multiple drive sections are merged into a single integrated control architecture. This allows centralized coordination of the drive sections, where a single control system manages the sequencing and operation of multiple drive mechanisms, reducing the complexity that would otherwise result from having separate independent control systems.
Data Source
AI summary
A system may include a controller configured to determine a user interface status, wherein the user interface status includes user interaction of a user interface. The controller may also be configured to determine a drive mechanism location relative to a first limit and a second limit and select a clutching location based on the user interface status and drive mechanism location.