Magnetically Steerable Catheter With Radiation-Free Location Sensing
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Solution Overview
Problem
Existing magnetically steerable catheters for peripheral artery disease (PAD) interventions suffer from limited steering capability, high cost, lack of intuitive user interface, and require fluoroscopic imaging for catheter location sensing, leading to increased radiation exposure and procedural complexity.
Innovation Solution
A magnetically steerable robotic catheter with a ring-shaped magnet and hollow instrument channel, incorporating kirigami-type flexure patterns and contactless magnetic actuation, along with a remote control user-interface and magnetic location sensing, to enhance steerability and reduce radiation exposure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If magnetically steerable catheters are used to improve steerability in complex vasculature, then steering capability is improved, but device complexity and cost increase
Solution Approach 1:
The catheter is divided into multiple segments with varying stiffness properties along its length. The proximal segment has higher stiffness for pushability, while the distal segment has lower stiffness for flexibility and steering. This segmentation allows the catheter to achieve complex steering capabilities without requiring an overly complex overall structure.
Solution Approach 2:
The catheter incorporates a dynamic transition zone between rigid and flexible segments, allowing the structure to adapt its mechanical properties. This dynamic design enables the catheter to maintain structural integrity during insertion while becoming more flexible for steering in complex vasculature, resolving the contradiction between structural strength and steering flexibility.
2Measurement precision
If fluoroscopic imaging is used for catheter location sensing, then catheter position can be detected, but radiation exposure increases
Solution Approach 1:
The patent replaces the mechanical/optical fluoroscopic imaging system with a magnetic sensing system. Magnets embedded in the catheter interact with external magnetic sensors to provide location information, substituting the radiation-based fluoroscopic method with a non-ionizing magnetic field-based detection method, thereby eliminating radiation exposure while maintaining location sensing capability.
Solution Approach 2:
Magnetic fields serve as an intermediary between the catheter and the sensing system. Instead of directly imaging the catheter with X-rays, the system uses magnetic fields as a mediator to transmit position information from the catheter to external sensors, enabling indirect but radiation-free detection of catheter location.
3Device complexity
If manual PEI procedures are used, then procedural simplicity is maintained, but steerability and navigation capability are limited
Solution Approach 1:
The patent changes the mechanical parameters of the catheter by incorporating segments with different stiffness values. This parameter modification allows the catheter to achieve superior steerability and navigation capability through complex vasculature while maintaining relative procedural simplicity, as the enhanced performance comes from material and structural parameter changes rather than complex operational procedures.
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
The system achieves improved steerability in complex vasculature, reduces X-ray radiation exposure, and provides an intuitive steering capability, with accurate real-time catheter location estimation and reduced procedural duration.
Implementation Method 1
the electromagnet is configured to exert a magnetic force on the permanent magnet
Data Source
AI summary
Exemplary embodiments of the present disclosure apparatus and methods for enhancing the steerability of catheters, including for example those used in peripheral artery disease PAD interventions. Exemplary embodiments include a permanent magnet coupled to an end of a segmented tubular member, an electromagnet, and a controller configured to control a magnetic force exerted by the electromagnet on the permanent magnet. Exemplary embodiments further comprise systems and methods for detecting the location of a magnetic element via magnetic sensors.