Removable Vision Probe Catheter for Small-Lumen Biopsy Navigation
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Solution Overview
Problem
Manufacturing a catheter that includes mechanical structures for remote operation and has a diameter small enough to navigate small body lumens, such as those found in the lungs, is challenging due to the need for features like a steerable segment, tendons, vision systems, and sensors, which are difficult to accommodate in a diameter of 3 mm or less.
Innovation Solution
A catheter system with a removable vision probe that can be swapped for a biopsy probe, utilizing feedback control and distal sensors to maintain the desired working configuration during probe changes, ensuring accuracy and ease of navigation through small lumens.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the catheter diameter is reduced to 3 mm or less to navigate small lumens, then the ability to access small body passages is improved, but the space available to accommodate mechanical structures for remote operation is reduced
Solution Approach 1:
The catheter is divided into modular segments including a steerable segment with independent control, allowing each section to be optimized for its specific function while maintaining overall small diameter. The steerable segment can be actuated independently through pull wires that are routed through the catheter shaft.
Solution Approach 2:
Multiple functional elements are nested within the catheter shaft structure. Pull wires for actuation are routed through the shaft, vision probes are positioned within lumens, and sensors are integrated into the steerable segment, allowing compact arrangement of multiple components within the small diameter constraint.
2Measurement precision
If a vision system is included in the catheter to enable navigation and visualization, then the ability to locate and visualize the target is improved, but the catheter diameter increases
Solution Approach 1:
The vision probe is designed as a separate, removable component that can be extracted from the catheter shaft when not in use. The probe includes its own housing and optical elements that are positioned within a lumen in the catheter shaft, allowing the vision function to be separated from the main catheter structure.
Solution Approach 2:
The catheter shaft is designed with universal lumens that can accommodate different types of probes including vision probes and biopsy probes. The same lumen structure serves multiple functions by accepting different probe types depending on the procedural needs.
3Ease of operation
If the catheter is designed with a steerable segment and pull wires for robotic actuation, then the ability to reach target locations in branching passages is improved, but the manufacturing complexity increases
Solution Approach 1:
The pull wires are pre-routed and positioned within the catheter shaft during manufacturing, with their paths predetermined to connect to the steerable segment. This preliminary arrangement of actuation elements simplifies the final assembly process and ensures proper alignment of the steerable segment with the pull wire actuation points.
4Adaptability or versatility
If the vision probe is made removable and interchangeable with biopsy probes, then the versatility and adaptability of the catheter system is improved, but the control complexity during probe swapping increases
Solution Approach 1:
Sensors including position sensors and shape sensors provide real-time feedback about the catheter's location and configuration during probe swapping operations. This feedback enables the control system to automatically adjust and maintain the desired working configuration despite the dynamic changes occurring during probe exchange.
Solution Approach 2:
The control system monitors and adjusts parameters such as the position and orientation of the distal tip to maintain the desired working configuration. When probes are swapped, the system changes control parameters to compensate for any displacement or misalignment, ensuring the catheter returns to or maintains the target location.
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 maintains catheter accuracy and improves biopsy yield by allowing interchangeable probes while maintaining the desired working configuration despite disturbances, such as patient movement, using control logic and sensor feedback.
Implementation Method 1
feedback control and a distal sensor (such as a fiber-optic shape sensor) are used to maintain or return to the desired location
Data Source
AI summary
A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality.