Robotic Catheter Navigation Graph Steering
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Solution Overview
Problem
The challenge in ICE procedures is the steep learning curve for manipulating ICE catheters, limited field of view, and the need for a second operator to manage both the ICE catheter and therapy catheter, hindering real-time control and navigation.
Innovation Solution
A robotic catheter navigation system that constructs a graph of catheter configurations based on user instructions, automatically determining paths to target configurations to steer the catheter and recover specific views, enabling intuitive control and automatic view recovery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual ICE catheter manipulation is used, then the cardiologist has direct control over the catheter, but the learning curve is steep and operation becomes complex
Solution Approach 1:
A robotic catheter navigation system serves as an intermediary between the cardiologist's commands and the actual catheter manipulation. The system includes a control device with a graphical user interface that accepts high-level commands from the cardiologist and automatically translates them into precise catheter positioning actions, eliminating the need for manual manipulation while maintaining direct control.
Solution Approach 2:
The robotic navigation system performs self-service by autonomously navigating the catheter to target locations based on anatomical landmarks and pre-planned trajectories. The system automatically adjusts catheter position and orientation without requiring continuous manual intervention, reducing operational complexity while maintaining precision.
2Measurement precision
If the ICE catheter field of view is kept small for detailed imaging, then high-resolution images are obtained, but the therapy catheter cannot be maintained in view and real-time control is lost
Solution Approach 1:
The robotic catheter navigation system performs multiple functions simultaneously: it maintains high-resolution imaging by positioning the ICE catheter precisely while also tracking therapy catheters and providing real-time procedural context. The system integrates multiple data streams including ICE images, fluoroscopy, and catheter position data to provide a comprehensive view without sacrificing image quality.
Solution Approach 2:
The system continuously provides feedback by tracking the positions of both ICE and therapy catheters in real-time, updating the graphical user interface with current anatomical context and procedural status. This feedback loop ensures that high-resolution imaging is maintained while preventing loss of procedural context through automatic tracking and display of relevant information.
3Extent of automation
If automated robotic steering is implemented, then operator complexity is reduced and real-time control is improved, but the system requires complex navigation algorithms and graph construction
Solution Approach 1:
The system performs preliminary actions by pre-planning navigation trajectories and constructing graphs of anatomical landmarks before actual catheter insertion. The graphical user interface allows operators to define target locations and constraints in advance, and the robotic system automatically executes the pre-planned navigation path, reducing real-time computational complexity while maintaining high automation.
Data Source
AI summary
Systems and method for assisted catheter steering are provided. Instructions for steering a catheter within a patient are received. A graph defining paths between a plurality of configurations of a robotic catheter navigation system is constructed based on the received instructions. Each of the plurality of configurations are associated with a respective view of the patient. A path is determined in the graph to a target configuration of the plurality of configurations of the robotic catheter navigation system. The catheter is automatically steered within the patient based on the determined path in the graph to recover the respective view of the patient associated with the target configuration.