Robotic Catheter View Shuttling for Reproducible Imaging
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Solution Overview
Problem
Current robotic control systems for medical catheters, such as ICE catheters, require significant user intervention and training, leading to underutilization of imaging capabilities and limited monitoring of complications during cardiac procedures, as they often rely on manual navigation and lack electromagnetic sensors for closed-loop control.
Innovation Solution
A robotic catheter system that navigates along a predefined trajectory, allowing for automated or semi-automated movement of the catheter, enabling reduced user intervention and focusing on other aspects of the procedure, with features like trajectory acquisition, storage, and user-defined waypoints for precise control and synchronization with heart motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual control of robotic catheter system is used, then operator flexibility is maintained, but navigation reproducibility and imaging quality deteriorate
Solution Approach 1:
The system performs preliminary actions by automatically navigating the catheter along a pre-defined trajectory before manual intervention is needed. The robotic system executes the trajectory autonomously, ensuring consistent and reproducible imaging paths, while the operator retains the ability to intervene if necessary.
2Productivity
If ICE catheter is retracted or parked during therapeutic delivery, then therapeutic procedure efficiency is improved, but complication monitoring capability deteriorates
Solution Approach 1:
The system enables self-service by allowing the ICE catheter to autonomously follow the stored trajectory and perform repeated imaging surveys without requiring continuous manual operation. The catheter automatically returns to key positions and repeats imaging sequences, maintaining monitoring capability while freeing the operator to focus on therapeutic procedures.
3Productivity
If automated trajectory-based navigation is implemented, then navigation efficiency and reproducibility are improved, but system complexity and requirement for EM sensors deteriorates
Solution Approach 1:
The system uses copying by storing the trajectory data (positions, orientations, imaging parameters) from an initial manual or automated run. This stored trajectory is then replayed automatically, eliminating the need for complex real-time EM sensing and control systems while maintaining high navigation efficiency and reproducibility.
4Loss of information
If repeated manual navigation is performed for imaging survey, then imaging coverage is improved, but operator workload and procedure time deteriorate
Solution Approach 1:
The system ensures continuity of useful action by automatically repeating the imaging trajectory without interruption. The catheter continuously surveys the anatomy by following the stored path, maintaining complete imaging coverage while eliminating the time loss associated with manual repositioning and setup between imaging sequences.
Data Source
AI summary
For robotically operating a catheter, a robotic catheter system controls navigation along a trajectory. The trajectory defines the movement, allowing the robotic catheter system to navigate the catheter with less or no user intervention. The catheter is controlled in a way allowing the operator focus less on the catheter, avoiding or limiting parking or retracting.