Robotic Catheter Guidance via Electromagnetic Tracking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current medical interventions, such as endovascular procedures and lung nodule biopsies, rely heavily on X-ray exposure, posing risks to patients and medical professionals, and existing robotic systems are limited by high costs, complexity, targeting accuracy, large size, and friction issues.
Innovation Solution
A robotic system for automatic guidance of medical catheters and endoscopes, equipped with a tracking sensor, motor-driven insertion and rotation mechanisms, and a navigation system, which uses CT/MRI imaging to create a 3D model of the anatomical structure, allowing for precise and minimally invasive procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If real time x-ray (fluoroscopy) is used to improve the accuracy of the procedure, then targeting accuracy is improved, but harmful radiation exposure to the patient and physician increases
Solution Approach 1:
The patent replaces the fluoroscopy-based mechanical imaging system with an electromagnetic field-based navigation system. The system uses electromagnetic sensors and tracking markers to provide real-time positional feedback without ionizing radiation, thereby maintaining targeting accuracy while eliminating harmful radiation exposure.
Solution Approach 2:
The patent introduces electromagnetic tracking markers as an intermediary between the catheter and the navigation system. These markers enable precise tracking of catheter position through electromagnetic fields rather than requiring direct X-ray imaging, thus achieving accurate guidance without radiation exposure.
2Measurement precision
If computer assisted surgery and medical robotics are used to improve procedure precision, then targeting accuracy is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts and isolates the essential navigation function from complex robotic systems. By using a dedicated electromagnetic tracking system with sensors and markers, the invention separates the guidance function from the catheter itself, simplifying the overall system while maintaining high positioning accuracy.
Solution Approach 2:
The electromagnetic tracking system serves multiple functions: it provides real-time positional feedback, guides catheter navigation, and enables procedural planning. This multi-functional approach reduces the need for separate complex systems, thereby lowering overall device complexity and cost.
3Extent of automation
If large robotic systems are used to improve procedure automation, then extent of automation is improved, but friction between catheter and robotic parts increases
Solution Approach 1:
The patent extracts the navigation and guidance functions from the robotic drive system. The electromagnetic tracking system independently guides the catheter without requiring physical contact between large robotic components and the catheter, thereby minimizing friction while maintaining automation through electronic control.
Data Source
AI summary
Robotic systems and methods for the automatic guidance of medical catheters into anatomical structures during various medical procedures are disclosed. A motor controlled insertion mechanism and a motor controlled rotation mechanism are configured to combine catheter insertion and rotation such as to twist the catheter while advancing into the anatomical structure. A navigation-system determines the position in the anatomical structure of a tracking-sensor disposed on the tip of the catheter. The motion of the catheter is controlled via the motors A controller controls, via the motors, the movement of the catheter into the anatomical structure function of the position of the tracking sensor. The methods, systems and devices described herein significantly decrease X-ray exposure to both patient and doctor, minimize friction between the catheter and robotic components, reduce the size of robotic systems, reduce production costs, and reduce the duration of clinical procedures.