Retractable Support Channel for Flexible Medical Instrument Guidance
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Solution Overview
Problem
Minimally invasive medical procedures face challenges in supporting flexible interventional instruments as they are inserted into patient anatomy, leading to deformation and potential damage due to unsupported lengths within existing systems.
Innovation Solution
A guiding apparatus with collapsible support members and retraction assemblies forms a retractable channel to support elongated instruments, retracting as the instrument advances to prevent deformation, and includes a system for coupling with a teleoperational manipulator for controlled advancement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the interventional instrument is made flexible to navigate anatomical passageways, then the ability to reach target tissue locations is improved, but the instrument becomes susceptible to bending and buckling when unsupported
Solution Approach 1:
The support channel is divided into multiple collapsible support members that can be independently controlled. Each support member can be retracted or extended to provide localized support where needed, allowing the instrument to remain flexible for navigation while preventing buckling in supported regions.
Solution Approach 2:
The support channel transitions from a static structure to a dynamic one with collapsible support members that can be actively retracted and extended. This dynamic adjustment allows the system to adapt between providing support (preventing buckling) and allowing flexibility (enabling navigation) based on the instrument's position and needs.
2Stability of the object's composition
If a rigid support structure is used to prevent instrument buckling, then instrument stability is improved, but the system complexity and size increase
Solution Approach 1:
The collapsible support members are designed to nest within each other when retracted, similar to nested dolls. This nesting mechanism allows the support structure to collapse to a minimal size when not in use, reducing the overall system size and complexity while maintaining full support capability when needed.
Solution Approach 2:
The support members utilize flexible yet structurally sound designs that can provide rigid support when extended but collapse efficiently when retracted. This approach maintains stability during instrument support while minimizing the complexity and size of the support mechanism.
3Stability of the object's composition
If the support channel remains extended to support the instrument, then instrument deformation is prevented, but the support structure interferes with instrument advancement
Solution Approach 1:
The support channel is designed as a dynamic structure with collapsible support members that can be actively retracted during instrument advancement. This allows the channel to transition from an extended supportive state to a collapsed non-interfering state, enabling smooth instrument passage while maintaining instrument shape stability when support is needed.
Solution Approach 2:
The support members are retracted in advance of the instrument's passage through the channel. This preliminary retraction action ensures that the support structure does not interfere with instrument advancement, while the instrument remains supported by the channel structure as it moves through the retracted members.
4Strength
If the support members are made robust to prevent buckling, then instrument protection is improved, but the retraction mechanism complexity increases
Solution Approach 1:
The support members are designed with flexible yet strong structures that can provide robust support when extended but are engineered to collapse efficiently when retracted. This design maintains instrument protection capabilities while simplifying the retraction mechanism compared to rigid robust structures.
Solution Approach 2:
The support members utilize material or structural parameter changes that allow them to transition between extended and retracted states. This enables robust support members to be retracted through controlled changes in their physical state or configuration, reducing retraction mechanism complexity while maintaining strength during support.
Data Source
AI summary
A guiding apparatus comprises a plurality of support members. Each of the plurality of support members has a curved profile to resist bending in at least one direction. The guiding apparatus also comprises a retraction system coupled to the plurality of support members. The plurality of support members has an extended configuration in which the plurality of support members is positioned in an arrangement to form a channel sized to receive an instrument. The plurality of support members has a retracted configuration in which each of the plurality of support members is retracted within the retraction system as the instrument is advanced along a longitudinal axis.