Modified Drive Surface for Robotic Guide Wire Friction
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Solution Overview
Problem
Existing robotic systems for guiding wires and catheters in percutaneous procedures face challenges in interacting with the drive mechanism due to the slippery surface of the guide wires and catheters, which can lead to slippage and potential damage from mechanical interaction, particularly with wheels that apply pinch force.
Innovation Solution
An elongated medical device with a modified drive surface is introduced, featuring a proximate portion with a surface different from the distal portion, optimized for better interaction with the robotic system's drive mechanism. This includes modifications such as a sleeve, patterned surface, or non-circular cross-section to enhance friction and interaction, and the incorporation of optical or magnetic markers for monitoring rotation and advancement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the guide wire surface is optimized for passage through the human body (smooth, slippery surface), then the ability to navigate body channels is improved, but the interaction with the robotic drive mechanism deteriorates (slippage occurs)
Solution Approach 1:
The guide wire is divided into two distinct surface zones: a distal portion with a smooth surface optimized for navigating body channels, and a proximal portion with a modified surface (higher friction, patterns, or textures) optimized for interaction with the robotic drive mechanism. This segmentation allows each portion to have surface properties tailored to its specific function without compromising the other.
Solution Approach 2:
Different surface qualities are applied to different locations of the guide wire. The distal portion maintains a smooth, low-friction surface for easy passage through tissues, while the proximal portion receives a modified surface treatment (such as increased roughness, patterns, or coatings) that provides higher friction for reliable grip by the drive mechanism wheels.
2Ease of operation
If the guide wire surface is made slippery for easy passage through the body, then navigation capability is improved, but the guide wire becomes susceptible to damage from the drive mechanism's pinch force
Solution Approach 1:
The guide wire surface is segmented into a protected proximal portion and an exposed distal portion. The proximal portion, which contacts the drive mechanism, receives a modified surface treatment that increases resistance to mechanical damage, while the distal portion maintains its original smooth surface for safe passage through the body.
Solution Approach 2:
A protective layer or modified surface structure is applied to the proximal portion of the guide wire before it enters the drive mechanism. This protective surface acts as a cushion or barrier that absorbs and distributes the pinch force from the drive mechanism wheels, preventing damage to the underlying wire structure.
3Reliability
If a modified surface is applied to the proximal portion for better drive mechanism interaction, then robotic control reliability is improved, but the device complexity increases
Solution Approach 1:
The surface properties of the proximal portion are modified by changing physical parameters such as roughness, friction coefficient, or surface energy through treatments like coating, etching, or texturing. These parameter changes enhance grip with the drive mechanism without requiring fundamental redesign of the guide wire structure.
Solution Approach 2:
The guide wire incorporates composite construction with different surface layers or materials: an inner core for structural integrity and an outer surface layer with modified properties (such as a polymer coating or textured layer) that provides enhanced friction and grip for the drive mechanism while maintaining biocompatibility.
Data Source
AI summary
An elongated medical device with a modified drive surface for use with a drive mechanism of a robotic system includes an elongate body having a distal portion configured to navigate the lumen of a human body channel and a proximate portion having a surface different from that of the distal portion and adapted to better interact with the driving mechanism than the surface of the distal portion. The surface of the proximate portion may include at least one of an optical or a magnetic marker.