Robotic Catheter Positioning With Deviation Correction
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Solution Overview
Problem
Interventional medical procedures in vascular systems face challenges with meandering and spiraling of medical objects due to manual control under X-ray fluoroscopy, leading to inaccurate positioning and high operator exposure.
Innovation Solution
A robotic apparatus for precise positioning of medical objects, using a control specification to determine deviations and provide correction specifications for repositioning, incorporating data sets and machine learning for improved path planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual positioning under X-ray fluoroscopy control is used, then positioning capability is maintained, but X-ray exposure increases and positioning precision deteriorates
Solution Approach 1:
The patent replaces manual mechanical positioning with an automated robotic positioning system that uses sensors and control algorithms to position the medical object, eliminating the need for continuous X-ray fluoroscopy monitoring and reducing radiation exposure while improving positioning precision
Solution Approach 2:
The system creates a digital model or map of the examination object's internal structure through preliminary imaging, allowing the robotic system to navigate and position the medical object based on this digital copy rather than relying on real-time X-ray feedback
2Measurement precision
If robotic moving apparatus is used, then positioning precision is improved, but device complexity increases
Solution Approach 1:
The robotic positioning system is divided into modular components including the moving apparatus, sensor systems, control unit, and digital mapping module, allowing independent optimization and simplification of each subsystem while maintaining overall precision
Solution Approach 2:
A control unit acts as an intermediary between the robotic moving apparatus and the positioning target, processing sensor data and calculating correction specifications to simplify the control architecture and reduce system complexity
3Measurement precision
If correction specifications are calculated in real-time, then positioning accuracy is improved, but processing time increases
Solution Approach 1:
The system performs preliminary imaging and digital mapping of the examination object before the actual positioning procedure, pre-calculating spatial relationships and potential correction specifications to enable faster real-time adjustments without extensive processing delays
Solution Approach 2:
The system implements continuous feedback loops where sensors monitor the actual position of the medical object, compare it with the target position, and automatically calculate and apply correction specifications in real-time, improving accuracy without significant time loss through iterative optimization
Data Source
AI summary
An apparatus for positioning a medical object includes a moving apparatus for robotically moving the medical object. The medical object includes a predefined section. The predefined section is at least partially arranged in an examination object. The apparatus is configured to receive a control specification. The moving apparatus is configured to position the predefined section based on the control specification. The apparatus is further configured to receive positioning information on the predefined section and determine a degree of deviation. The degree of deviation describes a deviation between the control specification and the positioning information. The apparatus is configured to determine a correction specification for minimizing the deviation based on the degree of deviation. The moving apparatus is further configured to reposition the predefined section based on the correction specification.