Robotic Catheter Manipulator Assembly for Automated Control
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Solution Overview
Problem
Current catheter manipulation systems in medical procedures, such as those for treating arrhythmias, rely heavily on user skill, leading to procedural variability and exposure to radiation for staff, and lack precise and dynamic automated control.
Innovation Solution
A robotic catheter manipulator assembly with movable bases and drive mechanisms, including motor-driven lead screws or piezo motor drives, allows for precise control of catheters and sheaths through complementary slider blocks and fingers, enabling alignment, locking, and independent movement of catheter and sheath cartridges.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual catheter manipulation is used, then the procedure can be performed with simple equipment, but procedural variability increases due to user skill level differences
Solution Approach 1:
The patent replaces manual mechanical manipulation with an automated robotic manipulator system that uses motorized drive mechanisms, lead screws, and programmable control to perform catheter manipulation tasks, thereby eliminating variability due to user skill while maintaining mechanical precision
Solution Approach 2:
The manipulator system incorporates self-aligning features through complementary geometric shapes (recesses and protrusions) that automatically position components correctly during assembly, reducing the need for manual alignment adjustments and improving procedural consistency
2Loss of information
If fluoroscopy is used for guidance, then real-time imaging is available, but radiation exposure to medical staff increases
Solution Approach 1:
The system creates a virtual three-dimensional model of the catheter and sheath positions based on tracking data, serving as a radiation-free alternative to continuous fluoroscopic imaging while providing comparable navigational information for procedural guidance
3Extent of automation
If automated robotic control is implemented, then radiation exposure is minimized and procedural variability is reduced, but device complexity and initial cost increase
Solution Approach 1:
The robotic manipulator is divided into separate functional modules including catheter manipulation bases, sheath manipulation bases, drive mechanisms, and control systems, allowing independent optimization of each component and simplifying the overall system architecture despite the high level of automation
Solution Approach 2:
The patent introduces a virtual model as an intermediary representation that mediates between the physical catheter/sheath and the control system, enabling automated control through software-based navigation and positioning without requiring complex direct sensor-actuator coupling
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
This system minimizes procedural variability due to user skill and reduces radiation exposure by enabling precise, dynamic, and automated control of catheters and sheaths, allowing procedures to be performed with improved accuracy and safety, both at the patient site and remotely.
Implementation Method 1
the finger may be movable by a motor driven lead screw or a ball screw (or alternatively, a belt drive, a rolling ring linear drive, or a piezo motor drive)
Implementation Method 2
the finger may be movable by a motor driven lead screw or a ball screw (or alternatively, a belt drive, a rolling ring linear drive, or a piezo motor drive)
Data Source
Figure 1
Figure 2
Figure 3a~3b
AI summary
A robotic catheter manipulator assembly comprising a support member including at least one catheter manipulation base and at least one sheath manipulation base movable relative to each other and to the support member, each respective manipulation base being releasably connectable to at least one catheter cartridge and at least one sheath cartridge, and at least one drive mechanism for moving the catheter and sheath manipulation bases relative to each other and to the support member.