Interventional Handle Unit with Mode Selection for Radiation Safety
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Solution Overview
Problem
Conventional interventional procedures using radiographic imaging expose operators to harmful radiation, and the accuracy of needle insertion is heavily dependent on operator skill and experience, necessitating the development of a remote-controlled robotic system for safer and more precise procedures.
Innovation Solution
A handle unit and master device for interventional procedures that transmit operator commands to a slave robot, providing haptic feedback and allowing control of a needle driver with five degrees of freedom, including linear, rotational, and plane motions, to facilitate precise needle insertion while protecting the operator from radiation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If manual needle insertion is used, then operator flexibility and adaptability are maintained, but operator exposure to radiation increases and insertion accuracy depends on operator skill
Solution Approach 1:
A robotic master-slave system is introduced as an intermediary between the operator and the needle insertion process. The master device allows the operator to control the slave robot remotely, which performs the actual needle insertion. This mediator eliminates direct operator exposure to radiation while maintaining precise control through haptic feedback and intuitive handle design with mode selection modules.
2Object-affected harmful factors
If remote-controlled robotic system is implemented, then operator safety is improved, but control precision and操作 intuitiveness must be maintained
Solution Approach 1:
The system incorporates haptic feedback mechanisms in the master device that provide tactile resistance and force feedback to the operator. This feedback loop allows the operator to feel the interaction forces during needle insertion, maintaining intuitive control and precision despite the remote operation. The feedback ensures the operator can sense needle tissue interaction without direct visual or physical contact.
Solution Approach 2:
The handle unit features dynamic mode selection that allows switching between different motion modes (linear, rotational, plane motion) based on procedural needs. This dynamic adaptability maintains ease of operation by providing the most appropriate control mode for each specific task phase, making the complex robotic system as intuitive as manual operation.
3Measurement precision
If multi-degree-of-freedom needle control is implemented, then insertion precision is improved, but device complexity increases
Solution Approach 1:
The complex five-degree-of-freedom motion control is segmented into distinct mode categories: linear motion mode (1 DOF), rotational motion mode (2 DOF), and plane motion mode (2 DOF). The mode selection module divides the control space into these manageable segments, allowing the operator to select and master individual motion types rather than controlling all five degrees of freedom simultaneously. This segmentation reduces the perceived complexity while maintaining full precision capability.
Solution Approach 2:
The system dynamically activates only the necessary degrees of freedom based on the selected motion mode. Rather than providing continuous control over all five DOFs, the system dynamically enables specific subsets (1, 2, or 2 DOFs) according to the procedural requirements, simplifying the control interface while preserving precision when needed.
Data Source
AI summary
In a handle unit for interventional procedure, a master device for interventional procedure, and a remote control interventional procedure system, the handle unit is gripped by an operator. The handle unit includes a gripper, a mode selection module and a linear motion module. The gripper is gripped by the operator. The mode selection module is equipped to the gripper, and selects one of motion modes including a linear motion mode, a rotational motion mode and a plane motion mode. The needle linearly moves with one degree of freedom in the linear motion mode. The needle rotationally moves with two degrees of freedom in the rotational motion mode. The needle moves in a plane with two degrees of freedom in the plane motion mode. The linear motion module performs the linear motion of the needle based on the selection of the mode selection module, and is equipped to the gripper.