Guidewire Catheter Delivery With Force Feedback for ERCP Precision
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Solution Overview
Problem
Existing ERCP operations expose medical professionals to radiation due to the need for manual intervention, require multiple operators, and suffer from accuracy issues due to fatigue and hand tremors, lacking effective robotic solutions for safe and precise guidewire catheter delivery.
Innovation Solution
A guidewire catheter delivery device with a motor drive and force feedback module, incorporating a guidewire catheter delivery module and a force sensor, allowing for precise control and protection against radiation through a compact design suitable for surgical robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If manual ERCP operation is performed by doctors, then the operation can be completed with existing equipment, but doctors are exposed to radiation for long periods causing serious radiation damage
Solution Approach 1:
The patent replaces the manual mechanical operation system with an automated robotic system. The robotic arm executes pre-planned trajectories to deliver guidewires and catheters, substituting the doctor's manual manipulation. This eliminates radiation exposure to doctors while maintaining surgical functionality through automated control mechanisms.
Solution Approach 2:
The patent introduces a robotic system as an intermediary between the surgeon's intent and the actual surgical manipulation. The robotic arm acts as a mediator that translates surgical plans into precise physical actions, allowing the surgeon to work from a radiation-free control station while the robotic system performs the actual intervention in the X-ray field.
2Ease of operation
If multiple operators and cooperators are used in ERCP operation, then the operation can be performed manually, but the operating room becomes crowded and requires high-intensity work causing fatigue and reduced accuracy
Solution Approach 1:
The robotic system performs tasks that would otherwise require multiple human operators. The automated guidewire delivery mechanism, catheter delivery system, and positioning capabilities enable the system to service itself through pre-programmed sequences, reducing the need for multiple operators to manually coordinate complex maneuvers.
Solution Approach 2:
The robotic system integrates multiple functions into a single platform: guidewire delivery, catheter delivery, positioning, and trajectory execution. This multi-functional robotic system replaces the need for multiple specialized operators, as one robotic system can perform all necessary surgical tasks through integrated mechanisms.
3Duration of action of moving object
If doctors stand all day for surgery, then manual operation can be maintained, but high-intensity work causes fatigue and may lead to mistakes
Solution Approach 1:
The robotic system replaces the human operator's physical endurance requirements with automated mechanical execution. The robotic arm can maintain precise positioning and execute surgical tasks for extended periods without fatigue, ensuring consistent accuracy throughout the procedure regardless of duration.
Solution Approach 2:
The robotic system incorporates feedback mechanisms that continuously monitor positioning accuracy and adjust in real-time. This closed-loop control ensures that surgical precision is maintained throughout the entire procedure, preventing the degradation of accuracy that occurs with human fatigue during long surgeries.
4Measurement precision
If manual operation is performed, then existing equipment can be used, but it is difficult to ensure hand stability causing displacement after instrument positioning
Solution Approach 1:
The robotic system replaces human hand manipulation with automated robotic positioning. The robotic arm's mechanical stability and precision control systems eliminate hand tremors and instability, maintaining accurate positioning of guidewires and catheters throughout the procedure without requiring complex stabilization techniques.
Data Source
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AI summary
A guidewire catheter delivery device includes a guidewire catheter delivery module and a motor drive and force feedback module; the motor drive and force feedback module is drivingly connected to the guidewire catheter delivery module, and the guidewire catheter delivery module is installed with a guidewire catheter and drives the guidewire catheter to move back and forth; a force sensor and a motor are installed in the motor drive and force feedback module; an output end of the motor is connected to the guidewire catheter delivery module, and an end, facing away from the guidewire catheter delivery module, of the motor is connected to the force sensor; a driving wheel and a driven wheel are installed in the guidewire catheter delivery module; and the driving wheel is connected to the output end of the motor, and the guidewire catheter is installed between the driving wheel and the driven wheel. The device has a compact structure, realizes the stable delivery of the guidewire catheter, and can be used in a surgical robot for intervention to avoid surgical radiation and improve surgical safety.