Robotic Percutaneous Device Exchange for Stationary Guidewire Control
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Solution Overview
Problem
Existing percutaneous device exchange systems face challenges in maintaining the distal end of a guidewire in a fixed position during catheter exchange procedures, particularly in vascular interventions, leading to potential misalignment and complications.
Innovation Solution
A robotic system with a movable drive mechanism and guidewire fixation devices, such as wheels or clamps, maintains the guidewire position relative to the patient's vasculature while withdrawing and replacing catheters, using sensors and robotic arms for precise control and alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual catheter exchange is performed without a robotic system, then the procedure is simpler in terms of device complexity, but the guidewire position cannot be maintained accurately relative to the lesion
Solution Approach 1:
A robotic system acts as an intermediary between the operator and the catheter exchange procedure. The robotic system includes a robotic arm that holds the catheter, a base that moves along the catheter, and a guidewire positioner that maintains the guidewire's distal end at a fixed position relative to the lesion. This intermediary system enables precise guidewire position maintenance while automating the complex coordinated movements required during catheter exchange.
Solution Approach 2:
The robotic system performs self-adjustment during catheter exchange. The base automatically moves along the catheter as the catheter is advanced or retracted, and the guidewire positioner continuously adjusts to maintain the guidewire's distal end position. This self-service capability allows the system to maintain precision without requiring constant manual intervention, reducing the skill level needed while improving position accuracy.
2Stability of the object's composition
If the catheter is moved manually during exchange, then the operator has direct control, but the guidewire distal end position drifts relative to the lesion
Solution Approach 1:
The robotic system serves as an intermediary that stabilizes the guidewire position while facilitating catheter movement. The guidewire positioner, controlled by the robotic system, actively compensates for position drift by adjusting the guidewire's distal end position relative to the lesion, thereby maintaining stability during manual or automated catheter exchange procedures.
Solution Approach 2:
The robotic system incorporates feedback control to maintain guidewire position stability. Sensors detect the position of the guidewire's distal end relative to the lesion, and the control system adjusts the guidewire positioner in real-time to correct any drift. This closed-loop feedback mechanism ensures stable guidewire positioning while simplifying the operational complexity for the user.
3Reliability
If a robotic system with multiple components is used, then guidewire position control is improved, but the device complexity and procedural time increase
Solution Approach 1:
The robotic system merges multiple functions into an integrated platform. The robotic arm, base, guidewire positioner, and control system work as a unified system to perform catheter exchange while maintaining guidewire position. This merging of functions into a single coordinated system improves reliability by ensuring all components work together seamlessly, while the automation of coordinated movements actually reduces procedural time compared to manual coordination of multiple separate actions.
Solution Approach 2:
The robotic system performs preliminary positioning and preparation actions before the actual catheter exchange. The system pre-positions the catheter, pre-loads the guidewire positioner, and pre-coordinates the movement paths of all components. This preliminary action reduces the time required during the critical exchange phase and improves reliability by ensuring all parameters are optimized before the procedure begins.
Data Source
AI summary
A system and method include operation of a device coupled to a base to hold a catheter to the base, the catheter defining a lumen in which a portion of an elongated medical device is disposed, and a portion of the catheter being disposed in a hemostasis valve, movement of the base relative to the hemostasis valve along a first path while the catheter is held to the base such that the catheter moves relative to the hemostasis valve, and operation of a mechanism coupled to the base to maintain a position of the elongated medical device within the lumen relative to the hemostasis valve while the base and the mechanism are moved along the first path and the catheter is held to the base.