Robotic Catheter Axial Control and Nesting
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Solution Overview
Problem
Current robotic surgical systems lack the precision and control needed for minimally invasive procedures, particularly in accessing deep tissues through natural pathways like blood vessels or the gastrointestinal tract, where traditional methods are inadequate.
Innovation Solution
A robotic catheter system with a controller, master input device, and touch screen interface, featuring a guide instrument with axially movable control elements and a sheath instrument, allowing independent control of the guide instrument's bending and movement, along with an imaging and localization system for precise positioning within the body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If a robotic catheter system is designed to access deep tissues through natural pathways, then the ability to reach deep internal organs is improved, but the system size and complexity increase
Solution Approach 1:
The robotic catheter system is divided into multiple modular components including a catheter assembly with control elements, a sheath instrument, an instrument driver, and a control system. Each module performs specific functions and can be independently controlled, allowing the long catheter to be managed through segmented control mechanisms while reducing overall system complexity.
Solution Approach 2:
The guide instrument is disposed within the sheath instrument, and the sheath instrument is controlled through the instrument driver interface. This nested configuration allows multiple functional layers to be integrated within a compact structure, enabling deep tissue access while maintaining manageable system dimensions and complexity.
2Measurement precision
If independent control of guide instrument bending and movement is implemented, then navigation precision is improved, but device complexity increases
Solution Approach 1:
The guide instrument incorporates multiple axially movable control elements that can be independently actuated to dynamically adjust the catheter's bending and positioning. These control elements translate linear axial movements into precise angular adjustments at the catheter tip, enabling six-degree-of-freedom navigation while maintaining a relatively simple control mechanism through mechanical advantage.
Solution Approach 2:
The system replaces complex mechanical linkages with a streamlined control architecture where axial movement of control elements directly translates to catheter tip positioning through optimized mechanical transmission. The instrument driver uses electronic control signals to actuate control elements, substituting complex multi-stage mechanical systems with a more efficient electromechanical approach.
3Measurement precision
If real-time imaging and localization systems are integrated, then diagnostic and therapeutic accuracy is improved, but device complexity and cost increase
Solution Approach 1:
The control system serves multiple functions by integrating imaging acquisition, localization data processing, catheter control, and procedural guidance within a single unified platform. The master input device and touch screen interface provide universal control for both imaging operations and catheter manipulation, reducing the need for separate specialized systems and thereby reducing overall integration complexity.
Data Source
AI summary
A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.