Instrument Driver Direct Coupling for Robotic Catheter Precision
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Solution Overview
Problem
Current robotic surgical systems face challenges in achieving precise and minimally invasive procedures due to inaccuracies introduced by intervening structures between the instrument driver and the catheter instrument, which can affect the kinematic functions and require complex setups for exchanging disposable instruments.
Innovation Solution
A robotic medical system with a catheter instrument and instrument driver configuration that minimizes errors by direct mechanical coupling, using a proximal drivable assembly and control element interface assemblies to perform kinematic functions, and allows for easy exchange of instruments through a mounting scheme that eliminates the need for intervening structures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional robotic surgical systems use intervening structures between the instrument driver and catheter instrument, then the system can accommodate complex instrument configurations, but the precision and accuracy of kinematic functions deteriorate due to errors introduced by these intervening structures
Solution Approach 1:
The patent removes intervening structures from the system by implementing direct mechanical coupling between the instrument driver and catheter instrument. The drivable assembly is mounted directly to the instrument driver, eliminating intermediate components that introduce kinematic errors, while still achieving the required adaptability through direct instrument attachment and detachment mechanisms
Solution Approach 2:
The patent introduces a standardized interface mechanism as an intermediary that enables direct coupling between the instrument driver and various catheter instruments. This interface includes complementary mounting features that allow precise alignment and mechanical connection without requiring complex intervening structures, thus maintaining both precision and versatility
2Measurement precision
If the catheter instrument uses a fixed mounting arrangement, then the kinematic precision is maintained, but the ease of exchanging disposable instruments deteriorates
Solution Approach 1:
The patent divides the catheter instrument into separable components: a disposable catheter instrument portion and a reusable drivable assembly with mounting features. The drivable assembly includes mounting features that interface with the instrument driver, allowing the disposable portion to be quickly exchanged while maintaining precise kinematic coupling through the reusable mounting interface
Solution Approach 2:
The patent incorporates pre-configured mounting features on both the instrument driver and catheter instrument that are designed to align and engage automatically during the exchange process. This preliminary preparation of mounting interfaces enables rapid instrument exchange while ensuring precise kinematic alignment is achieved immediately upon attachment
Data Source
AI summary
A robotic medical system comprises an operator control station having a master input device, a catheter instrument, and an instrument driver in communication with the operator control station. The catheter instrument includes an elongate flexible catheter member, a flexible control element extending within the catheter member, and a proximal drivable assembly configured to axially move the control element relative to the catheter member to perform a kinematic function at a distal end of the catheter member. The instrument driver is configured to operate the drivable assembly to axially move the control element in response to control signals generated, at least in part, by the master input device. The drivable assembly is mounted to the instrument driver, thereby providing mechanically close relationship between the drivable assembly and the instrument driver.