Lateral Robotic Catheter Driver Reduces Footprint
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Solution Overview
Problem
Current vascular robotic catheter systems are cumbersome, interfere with other medical equipment, and require significant space and weight, making it difficult to orient them along the insertion axis, especially during procedures that require imaging, and often necessitate multiple personnel for operation.
Innovation Solution
The system incorporates radially arranged drive wheels and alternative configurations for sheath and guide splayers that allow for flexible orientation and reduced footprint, enabling the robotic instrument driver to be positioned closer to the patient and eliminating the need for a setup joint, allowing for easier tool exchange and reduced weight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the RCM is positioned along the insertion axis to provide full catheter stroke, then the catheter can be fully inserted and manipulated, but the RCM takes up significant space and interferes with other medical equipment
Solution Approach 1:
The patent repositions the RCM from a longitudinal arrangement along the insertion axis to a lateral arrangement beside the patient. This dimensional change allows the catheter to be fed laterally into the patient rather than longitudinally, reducing the space the RCM occupies and eliminating interference with imaging equipment while maintaining full catheter insertion capability.
2Ease of operation
If the RCM is positioned along the insertion axis, then the catheter can be manipulated, but the RCM is restricted to a specific orientation and alignment
Solution Approach 1:
By moving the RCM to a lateral position beside the patient and feeding the catheter laterally, the system gains orientation flexibility. The RCM is no longer restricted to a specific longitudinal alignment and can be positioned adaptively for different insertion locations and imaging requirements while maintaining full manipulation capability.
3Area of stationary object
If the RCM is positioned laterally beside the patient, then space is reduced and interference with equipment is minimized, but the catheter must be fed laterally which increases bending
Solution Approach 1:
The catheter system is divided into segments: the RCM feeds the catheter laterally into a feed mechanism positioned near the patient, which then guides the catheter into the introducer. This segmentation allows the catheter to be fed laterally in controlled sections, reducing excessive bending while maintaining the space-saving lateral configuration.
4Device complexity
If traditional aligned carriages are used, then the RCM structure is simple, but the RCM takes up significant space and is restricted in orientation
Solution Approach 1:
The patent transitions from a traditional longitudinal alignment of carriages to a lateral configuration where the RCM is positioned beside the patient and feeds the catheter laterally. This dimensional reorganization reduces the space the RCM occupies while maintaining structural simplicity through the use of a feed mechanism that handles the lateral-to-longitudinal transition.
Data Source
AI summary
A robotic instrument driver for elongate members includes a first elongate member, and at least one manipulator mechanism configured to manipulate the first elongate member, and at least one articulating drive configured to articulate the first elongate member, positionable on a bed and beside a patient access site. The manipulator and articulating drive are positioned relative to each other a distance less than the insertable length of the first elongate member, stationary in position.