Guidewire Catheter Drive With Force Feedback for Resistance Sensing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing interventional surgical robots lack a force detection mechanism for guidewires and catheters, leading to a lack of tactile feedback for the operator, which can result in forced operations and potential harm to patients.
Innovation Solution
A slave-end guidewire/catheter driving apparatus with integrated force detection modules, including a first and second force detection module, to sense clamping and advancement resistance, providing tactile feedback to the operator through a system controller.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a transmission mechanism is added to drive the guidewire/catheter, then the guidewire/catheter can be advanced and rotated, but the operator cannot sense the resistance force, leading to poor sense of presence
Solution Approach 1:
The patent introduces a force detection module that detects the resistance force during guidewire/catheter advancement and transmits this force feedback to the master end操纵装置. This allows the operator to sense the resistance force through tactile feedback, resolving the information loss problem while maintaining ease of operation.
2Reliability
If the doctor operates directly in the radiation environment, then real-time control is possible, but the doctor is exposed to long-term X-ray radiation
Solution Approach 1:
The patent introduces a master-slave robot system where the slave end effector operates in the radiation environment to manipulate the guidewire/catheter, while the doctor operates the master end操纵装置 outside the radiation environment. The force detection module serves as an intermediary to transmit tactile feedback from the slave end to the master end, maintaining real-time control capability while protecting the doctor from radiation exposure.
3Loss of information
If force detection modules are added to the slave end apparatus, then resistance force can be detected and fed back, but the device complexity increases
Solution Approach 1:
The patent extracts the force detection function into a separate, dedicated force detection module that can be integrated into the slave end apparatus. This modular approach allows force feedback capability to be added without fundamentally redesigning the entire system, thereby limiting the increase in device complexity.
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 operator's sense of presence and improves surgical safety by allowing real-time resistance and clamping force feedback, ensuring safer and more precise operations.
Implementation Method 1
an elastic member located between the first force measurement sensor and the fixing base
Implementation Method 2
the first force detection module is configured to detect advancement resistance in an advancement direction, perpendicular to the first direction, of the guidewire/catheter
Implementation Method 3
a second force detection module configured to detect clamping force of the two clamping sets that acts on the guidewire/catheter
Data Source
AI summary
Disclosed is a slave-end guidewire/catheter driving apparatus with a force detection function, disposed at a slave end of an interventional surgical robot, and configured to clamp and drive a guidewire/catheter. The apparatus includes an inner frame, a rubbing mechanism, and a first force detection module. The rubbing mechanism is disposed on the inner frame, and includes two opposite clamping sets and a driving component driving the two sets to approach or move away from each other along a first direction to clamp or unclamp the guidewire/catheter. The first force detection module is at the bottom of the inner frame, and configured to detect advancement resistance in an advancement direction, perpendicular to the first direction, of the guidewire/catheter when the two sets clamp the guidewire/catheter. This application allows doctors to learn about resistance in time, which increases a sense of presence and improves surgery safety with high practicability and wide application.