Robotic Catheter Nested Instrument Control
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Solution Overview
Problem
Current robotic surgical systems lack the precision and control necessary for minimally invasive procedures, particularly in accessing deep tissues through natural pathways like blood vessels or the gastrointestinal tract, where traditional open techniques are not feasible.
Innovation Solution
A robotic catheter system with a master input device controlling guide instruments and sheath instruments, allowing for independent control of bending and movement, combined with imaging and localization systems to precisely navigate and position instruments 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 and recovery time is shortened, but precision and control for accessing deep tissues are compromised
Solution Approach 1:
The system employs nested instruments where a guide instrument is inserted through a sheath instrument, and additional tools can be advanced through the guide instrument. This multi-layered nesting allows precise control and access to deep tissues while maintaining minimal invasiveness, as each nested component provides structural support and control while the outer components remain relatively small
Solution Approach 2:
The robotic system divides the instrument into multiple independently controllable segments including the sheath instrument, guide instrument, and working instrument. Each segment can be controlled separately through the master input device, allowing precise manipulation of the distal end while keeping the overall system minimally invasive. The segmentation enables complex motions to be achieved through coordinated movement of individual segments
2Ease of operation
If the catheter system is made highly controllable for precise manipulation, then access to deep tissues is improved, but the system size and complexity increase
Solution Approach 1:
The master input device serves multiple functions by controlling both the sheath instrument and guide instrument through a single interface. The system integrates imaging, localization, and instrument control in one unified platform, reducing the need for separate devices and thereby limiting overall system size while maintaining high controllability
Solution Approach 2:
By nesting the guide instrument within the sheath instrument and additional tools within the guide instrument, the system achieves high controllability through multiple independent control elements while minimizing the overall physical footprint. The nested structure allows complex functions to be packed into a compact configuration
3Manufacturing precision
If independent control of bending and movement is implemented, then procedural accuracy is enhanced, but device complexity and number of control elements increase
Solution Approach 1:
The master input device is designed as a universal control interface that manages both bending and movement functions through integrated control algorithms. The controller coordinates multiple control elements to achieve independent bending and movement while presenting a unified interface to the operator, thereby enhancing procedural accuracy without proportionally increasing operational complexity
Data Source
AI summary
A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.