Modular Robotic Catheter Drive Assemblies for Intracardiac Precision
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Solution Overview
Problem
There is a need for a highly controllable and minimally sized robotic catheter system capable of performing minimally invasive diagnostic and therapeutic procedures within a patient's body, particularly for accessing deep tissues via natural pathways or surgically created wounds, which existing systems fail to address effectively.
Innovation Solution
A robotic catheter system comprising multiple instrument drive assemblies, each coupled to a support assembly with adjustable articulating robotic arms, allowing precise control and positioning of elongate, flexible instruments for insertion into the body, with controllers for user operation and display of surgical sites.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional open surgical techniques are used, then surgeon's hands have direct access to internal organs, but the patient's body cavity must be opened which increases invasiveness and recovery time
Solution Approach 1:
The surgical system is segmented into separate modular components: robotic catheter assemblies, drive assemblies, support assemblies, and controllers. Each component can be independently configured and positioned, allowing minimally invasive access while maintaining surgical capability. The instrument assemblies are inserted through small vascular access points rather than requiring open body cavity access.
Solution Approach 2:
Robotic catheter assemblies serve as intermediaries between the surgeon's control inputs and the surgical site deep within the patient's body. The drive assemblies and support assemblies act as mechanical intermediaries that translate surgeon movements into precise instrument manipulation at the distal ends, enabling access to deep tissues through small entry points.
2Manufacturing precision
If robotic catheter system is designed for high controllability, then precision is improved, but system size and complexity increase
Solution Approach 1:
The system divides complexity across multiple independent modules: support assemblies with articulated robotic arms, instrument drive assemblies with drive elements, and control systems. Each module can be optimized independently for its specific function while contributing to overall precision through coordinated operation.
Solution Approach 2:
The support assemblies incorporate articulated robotic arms with braked joints that can be dynamically positioned and locked. The instrument drive assemblies use drive elements that can be actively controlled to manipulate instrument assemblies with high precision. This dynamic capability allows the system to achieve precise positioning without requiring a monolithic complex structure.
3Object-affected harmful factors
If minimally invasive access is used, then patient trauma is reduced, but access to deep tissues becomes more difficult
Solution Approach 1:
The system uses long, slender instrument assemblies that extend through the patient's body along the dimension of the vascular lumens. The articulated robotic arms and drive assemblies provide multi-dimensional control capabilities, allowing instruments to navigate complex three-dimensional pathways within the body while entering through small access points.
Solution Approach 2:
The robotic catheter assemblies act as intermediaries that bridge the gap between the external control system and the deep internal surgical site. The instrument assemblies traverse through vascular lumens and natural body pathways, using the body's own anatomical structures as guides to reach deep tissues without requiring large incisions or open access.
Data Source
AI summary
A robotic instrument system and method, comprising at least two instrument drive assemblies each detachably coupled to a respective instrument assembly. Each instrument assembly comprising an elongate, flexible guide instrument configured to be inserted into a patient's body. The instrument drive assemblies comprise one or more motors configure to operate a respective instrument assembly. One or more controllers are operatively coupled to the instrument drive assemblies. The method comprises maneuvering a distal end of each of the respective guide instruments into a patient's heart by actuating the respective drive assembly performing a procedure controlled by the one or more controllers.