Robotic Catheter View Switching for Transseptal Puncture
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Solution Overview
Problem
Current robotic systems for medical catheters, particularly for transseptal puncture procedures, face challenges in efficiently controlling the catheter to achieve correct imaging angles and track the dynamic movement of the transseptal needle, leading to limitations in zero-fluoroscopy or reduced fluoroscopy procedures.
Innovation Solution
A robotic catheter system that pre-defines multiple views for an imaging catheter, allowing it to automatically switch between these views intra-operatively based on pre-operative selection, thereby minimizing the need for manual adjustment and reducing radiation exposure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If ICE guidance is used for zero-fluoroscopy transseptal puncture, then radiation exposure is reduced, but the physician must manually adjust the ICE catheter position continuously to ensure correct incident angle, which is time-consuming and interrupts the procedure
Solution Approach 1:
The robotic system automatically adjusts the ICE catheter position and orientation based on pre-defined views and trajectories, enabling the system to serve itself without continuous manual intervention. The robot navigates the catheter hands-free between predetermined positions, eliminating the need for the physician to repeatedly remove their hands from the transseptal needle to reposition the ICE catheter.
Solution Approach 2:
Multiple views and trajectories are pre-defined before the procedure begins. The robotic system is programmed with predetermined catheter positions and paths that will be automatically executed during the procedure, allowing the system to perform necessary adjustments in advance rather than requiring real-time manual repositioning.
2Ease of operation
If manual control of ICE catheter is used to adjust imaging perspective, then real-time image adjustment is possible, but the physician cannot effectively track the dynamic movement of the transseptal needle assembly
Solution Approach 1:
The robotic system simultaneously performs both image optimization and needle tracking without requiring manual intervention. The automated control system monitors the transseptal needle position and automatically adjusts the ICE catheter to maintain optimal imaging angles, enabling the system to handle multiple tasks autonomously.
Solution Approach 2:
The system merges the functions of image optimization and needle tracking into a single automated robotic control system. Rather than requiring separate manual operations for each function, the robotic system integrates both capabilities, allowing the ICE catheter to be positioned for optimal imaging while simultaneously tracking the dynamic movement of the transseptal needle.
3Adaptability or versatility
If the physician manually maneuvers the ICE catheter to gain new imaging perspective, then different views can be obtained, but the physician must remove their hands from the transseptal needle, interrupting the procedure
Solution Approach 1:
The robotic system autonomously navigates the ICE catheter to different predetermined views without requiring the physician to intervene. The system independently performs the manual maneuvers that would normally require the physician to release the transseptal needle, thereby maintaining procedural continuity while providing imaging flexibility.
Solution Approach 2:
Multiple imaging perspectives and trajectories are pre-defined before the procedure. The robotic system has a library of predetermined views and paths programmed in advance, allowing it to automatically switch between different imaging perspectives without requiring real-time manual planning or intervention during the critical puncture procedure.
Data Source
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AI summary
For view-dependent control, different desired imaging catheter (550) views are defined. A robotic catheter system (540, 542) may alter (120) from one view to another view based on activation but otherwise hands-free by the operator. This pre-definition (110) of views and swapping (120) views intra-operatively provides procedure monitoring information while avoiding radiation and minimizing interruption of the procedure (e.g., needle placement and puncture).