Robotic Catheter Haptics and Gravity Compensation
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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, as they struggle with complex motion control and tactile feedback.
Innovation Solution
A robotic medical system with a master input device and instrument driver that enables independent control of a flexible guide instrument for axial advancement, rotation, and bending, incorporating integrated gravity compensation and haptics for tactile feedback, and utilizing software for visualization and localization to facilitate precise navigation within the body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If robotic surgical systems are designed for minimally invasive procedures, then patient trauma is reduced, but control precision and tactile feedback are compromised
Solution Approach 1:
The system incorporates haptic feedback mechanisms that provide tactile information to the operator through the master input device. Force feedback and vibration feedback convey tissue contact forces and procedural status, enabling the operator to sense tissue interactions despite the minimally invasive nature of the procedure. This feedback loop maintains control precision while preserving the benefits of minimally invasive access.
Solution Approach 2:
The master input device serves as an intermediary between the operator and the surgical instrument. It translates operator hand movements into precise instrument motions while providing tactile feedback that mimics direct tissue interaction. This intermediary mechanism bridges the gap between the operator's need for precision control and the constraints of minimally invasive surgery.
2Measurement precision
If the master input device is made highly controllable with multiple degrees of freedom, then motion precision is improved, but device complexity increases
Solution Approach 1:
The master input device is segmented into multiple independent degrees of freedom, each controlled by separate actuators and sensors. This modular segmentation allows precise control of each motion axis while managing overall system complexity through independent control channels. Each degree of freedom can be optimized and calibrated separately, simplifying the control architecture despite the multi-DOF capability.
Solution Approach 2:
The master input device integrates multiple functions including position control, force feedback, vibration feedback, and gravitational compensation within a single unified system. This multi-functionality reduces the need for separate devices for each function, managing overall complexity while providing comprehensive motion precision control through integrated sensors, actuators, and control algorithms.
3Ease of operation
If gravitational compensation is integrated into the master input device, then operator fatigue is reduced, but system complexity increases
Solution Approach 1:
The system incorporates gravitational compensation mechanisms that apply counteracting forces to balance the weight of the master input device and surgical instruments. Force sensors detect the gravitational load, and actuators generate compensating forces to neutralize gravity's effect on the control interface. This anti-gravity capability reduces operator fatigue during prolonged procedures while integrating seamlessly into the existing force feedback architecture.
4Reliability
If haptic feedback is provided to indicate tissue contact, then procedural safety is improved, but information processing complexity increases
Solution Approach 1:
The system employs multiple feedback channels including force feedback and vibration feedback that provide real-time information about tissue contact. Force sensors measure contact forces, and vibration actuators provide tactile alerts when tissue interaction is detected. This multi-channel feedback system enhances procedural safety by giving the operator immediate sensory information about tissue contact while distributing information processing across specialized sensors and actuators.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system provides enhanced control and precision for minimally invasive procedures, allowing for accurate manipulation of surgical tools within the body and improved tactile feedback to the operator, enhancing the ability to navigate and interact with tissues.
Implementation Method 1
each joint having an associated encoder
Implementation Method 2
Integrated gravity compensation may be provided, such that, when an operator lets go of the control interface, one or more motors operate to cause the control interface to remain approximately at its then-existing position
Implementation Method 3
The master input device may be provided with integrated haptics capability, in which one or more motors provide tactile feedback to the operator through the control interface
Implementation Method 4
feedback information provided by a tissue contact sensor
Data Source
AI summary
A robotic catheter system includes a controller with a master input device, and an instrument driver in communication with the controller, the instrument driver configured for independently controlling each of number of desired motions of a flexible, elongate guide instrument in a body of a patient in response to control signals generated by the controller, the desired motions selected from the group comprising axial advancement, axial retraction, axial rotation, and radial bending. Integrated haptics capability may be provided, in which one or more motors provide tactile feedback to an operator through the master input device.