Robotic Catheter System with Anatomical Model Registration
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Solution Overview
Problem
Current robotic catheter systems lack precise and dynamic automated control, leading to procedural variability due to user skill level and inability to perform user-specified procedures remotely or at the patient site effectively.
Innovation Solution
A robotic system with a user interface, catheter manipulator assembly, and controller that uses anatomical models for precise actuation of catheters, incorporating steering wires and advanced input devices like multi-touch displays and haptic feedback for real-time control and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual catheter manipulation is used, then the system is simple and easy to operate, but procedural variability increases due to user skill level differences
Solution Approach 1:
The patent replaces manual mechanical catheter manipulation with an automated robotic system. The robotic catheter system uses computer-controlled mechanisms to manipulate the catheter, eliminating dependence on individual operator skill levels and ensuring consistent procedural execution across different users and sessions.
Solution Approach 2:
The robotic system incorporates automated control algorithms that enable the system to perform catheter manipulation tasks autonomously based on pre-programmed protocols. The system can automatically navigate, position, and manipulate the catheter according to specified parameters, reducing the need for continuous manual intervention while maintaining procedural consistency.
2Measurement precision
If automated robotic control is implemented, then procedural consistency improves, but the device complexity increases
Solution Approach 1:
The patent employs advanced robotic control systems with computer algorithms to achieve precise catheter positioning. The automated control mechanisms use sensors, actuators, and feedback loops to accurately position the catheter at target locations, achieving superior precision compared to manual manipulation while managing system complexity through integrated control architecture.
Solution Approach 2:
The robotic catheter system incorporates feedback mechanisms that continuously monitor catheter position and adjust control signals accordingly. Sensors detect catheter location and orientation, and the control system processes this information to make real-time adjustments, ensuring accurate positioning while maintaining manageable system complexity through closed-loop control.
3Adaptability or versatility
If remote control capability is added, then accessibility to patient sites improves, but communication delays may affect real-time control
Solution Approach 1:
The robotic system maintains continuous control and monitoring capabilities during remote operations. The system continuously transmits control signals and receives feedback data without interruption, ensuring that remote operators can maintain real-time control of the catheter despite physical distance from the patient site.
Solution Approach 2:
The patent uses electronic communication systems and digital signal processing to replace traditional mechanical control linkages. This substitution enables remote operation with minimal latency, as electronic signals can be transmitted instantaneously over communication channels, preserving real-time control capability while providing remote accessibility.
Data Source
AI summary
A robotic system for manipulating a catheter with a plurality of steering wires longitudinally situated within a length of the catheter includes a user interface configured to display a view of an anatomical model and to receive one or more user inputs; a catheter manipulator assembly configured to linearly actuate one or more control members of a catheter; and a robotic controller configured to provide a view of an anatomical model to the user interface; accept one or more user inputs from the user interface; register the one or more user inputs to a coordinate system associated with the anatomical model; compute one or more actuator commands from the one or more registered inputs; and cause the catheter manipulator assembly to linearly actuate one or more control members of a catheter in accordance with the computed actuator commands.