Robotic Catheter Control for Constant Overshoot Under Network Delay
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Solution Overview
Problem
Existing robotic medical device systems face challenges in maintaining consistent movement and overshoot during procedures due to variations in network delays, which can affect the precision and reliability of catheter navigation in minimally-invasive medical procedures.
Innovation Solution
A robotic medical device system with a controller that adjusts movement to maintain a constant overshoot and maximum overtravel distance, independent of network delays, by controlling velocity and position to compensate for variations in command and image feedback delays.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If network control is used for robotic medical device, then remote operation capability is improved, but delay in control signals and image feedback causes variations in overshoot and overtravel distance
Solution Approach 1:
The system employs a feedback mechanism where the controller receives image feedback from the medical device position and adjusts control signals accordingly. The delay is calculated based on the difference between current time and timestamp of received images, and this feedback is used to compensate for network delays in real-time, maintaining consistent overshoot and overtravel distance despite network variations.
Solution Approach 2:
The controller dynamically changes the parameter of overshoot by adjusting control signals based on calculated delay values. By modifying the control signal timing and magnitude according to the measured network delay, the system maintains constant overshoot and overtravel distance parameters despite varying network conditions.
2Device complexity
If network transmission is used for control signals, then device complexity is reduced, but transmission delay causes variations in command execution timing
Solution Approach 1:
The system performs preliminary calculation of network delay by comparing the timestamp of received images with current time. This preliminary delay measurement is then used to pre-adjust subsequent control signals, compensating for transmission delays before they affect command execution timing.
Solution Approach 2:
The controller acts as an intermediary that receives control signals via network, calculates transmission delay, and introduces compensatory delay adjustment. This intermediary function mediates between the network transmission and the medical device actuation, ensuring timing precision despite network variability.
3Reliability
If velocity control is applied to compensate for delay, then overshoot consistency is improved, but control signal processing complexity increases
Solution Approach 1:
The velocity control parameter is dynamically adjusted based on the calculated network delay. The controller modifies velocity commands in real-time according to delay measurements, creating a dynamic control system that adapts to varying network conditions while maintaining overshoot consistency.
Data Source
AI summary
A robotic medical device system includes a robotic medical device and a controller. The controller is configured to control, in response to one or more control signals, movement of the robotic medical device to maintain a substantially constant overshoot for different step responses of the robotic medical device system independent of variations in a delay associated with control of the robotic medical device, the one or more control signals received via a network.