Robotic Catheter GUI for Decoupled Articulation and Rotation Control
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Solution Overview
Problem
Current surgical systems face challenges such as poor visibility, lack of tactile response, difficult anatomical navigation, and inadequate control of catheter-based devices during procedures, which increase the complexity and duration of surgeries.
Innovation Solution
A motorized catheter system with a user interface that includes a graphic user interface (GUI) and multiple drive mechanisms connected to motors, allowing for precise articulation, rotation, and longitudinal translation of catheters within a patient's luminal network.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual catheter control is used, then device complexity is reduced, but ease of operation deteriorates due to difficult anatomical navigation and inadequate control
Solution Approach 1:
The patent replaces manual mechanical catheter control with an automated robotic system. A robotic catheter incorporates motors, sensors, and control algorithms to autonomously navigate anatomical structures, replacing the need for manual manipulation by the surgeon. This substitution improves navigation precision and control while reducing procedural time, though it increases device complexity.
2Productivity
If automated motorized control is implemented, then productivity increases through reduced procedural time, but device complexity increases
Solution Approach 1:
The robotic catheter system performs preliminary actions by pre-planning the navigation path using pre-acquired anatomical imaging data. The system calculates the optimal route through anatomical structures before the procedure begins, then executes this pre-determined path automatically. This preliminary planning reduces procedural time and improves consistency, though it requires sophisticated computational capabilities increasing device complexity.
Solution Approach 2:
The patent implements feedback mechanisms where sensors on the robotic catheter continuously monitor position, orientation, and contact forces with tissue. This real-time feedback is fed back to the control system, which adjusts the catheter's movement accordingly. The feedback loop enables precise control and adaptation to anatomical variations, improving procedural efficiency while requiring complex sensing and control infrastructure.
3Measurement precision
If precise articulation and rotation control are added, then measurement precision improves, but device complexity increases
Solution Approach 1:
The robotic catheter is divided into multiple segmented sections or segments along its length. Each segment can be independently controlled by dedicated drive mechanisms, allowing precise articulation and rotation of specific portions. This segmentation enables fine-grained control of catheter configuration to achieve accurate positioning at the distal tip while maintaining simplicity in the control architecture through modular design.
Data Source
AI summary
A system for navigation of a luminal network including a catheter with a distal portion configured for articulation and a handle, a cradle configured to receive and support the handle, a first motor connected to the catheter, wherein the motor is operable to articulate the distal portion of the catheter, a second motor connected to the catheter, wherein the motor is operable to rotate the catheter about its longitudinal axis, and a user interface including at least one input, wherein signals generated by manipulation of the input are delivered to the first motor to articulate the catheter and to the second motor to rotate the catheter.