Robotic Drive Assembly Segmentation for Sterile Catheter Control
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Solution Overview
Problem
Robotic control and guidance systems for medical devices, particularly spiral mapping catheters, face challenges in complex mechanical and electrical interfacing due to multiple control actions and the need to maintain sterility during procedures.
Innovation Solution
A drive assembly comprising a medical device cartridge with a sterile barrier and a manipulation base, featuring a rotary actuator and electromechanical devices for precise rotational and translational movements, along with a commutator for electrical connectivity, to facilitate controlled navigation while maintaining sterility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic control and guidance system is used to manipulate a spiral mapping catheter, then precise control of the catheter is achieved, but the mechanical and electrical interfacing becomes excessively complex
Solution Approach 1:
The system is divided into distinct modular components: a sterile cartridge containing the catheter and a separate non-sterile manipulation base. This segmentation allows the complex robotic manipulation functions to be isolated in the base while the cartridge remains a simpler, sterile container, reducing overall system complexity while maintaining precise control capability.
Solution Approach 2:
A sterile barrier (sterile drape) is introduced as an intermediary component between the non-sterile manipulation base and the sterile catheter cartridge. This mediator enables mechanical and electrical connections to be made outside the sterile field, then transferred to the sterile side without direct contamination, simplifying the interfacing process while maintaining sterility.
2Ease of operation
If a non-sterile manipulating system is used to control the medical device, then ease of operation is improved, but contamination risk to the sterile field increases
Solution Approach 1:
A removable sterile barrier (sterile drape) serves as an intermediary that physically separates the non-sterile manipulation base from the sterile catheter cartridge. The drape includes apertures that allow mechanical and electrical connections to be established outside the sterile field, then maintained through the barrier, enabling easy operation without direct contamination of the sterile components.
Solution Approach 2:
The system separates sterile and non-sterile components into distinct modules (cartridge and base) that can be independently handled. The sterile cartridge can be prepared and sterilized separately, then connected to the non-sterile base through the sterile barrier, allowing the manipulating system to remain non-sterile for ease of operation while protecting the sterile field.
3Adaptability or versatility
If multiple sensors and control actions are integrated into the spiral catheter, then functionality is enhanced, but the complexity of mechanical and electrical interfacing increases
Solution Approach 1:
Multiple sensors (electrodes) and control mechanisms are integrated within the compact catheter cartridge, combining multiple functions into a single modular unit. This merging allows the complex multi-functional catheter to be handled as one integrated component, simplifying the interfacing requirements despite the enhanced functionality.
Solution Approach 2:
The sterile barrier with integrated apertures serves as a mediator that facilitates the connection of multiple electrical and mechanical interfaces between the base and cartridge. By establishing these connections outside the sterile field through the drape, the complexity of interfacing multiple sensors and control actions is managed without compromising sterility.
Data Source
AI summary
A drive assembly for use in a robotic control and guidance system comprises a cartridge having an outer housing and a rotatable medical device assembly disposed therein. The rotatable assembly includes a medical device having proximal and distal ends, and a housing having first and second ends, and a longitudinal axis extending therethrough. The proximal end of the medical device is disposed within the housing, and the housing further comprises an opening through which the medical device extends outwardly from said housing. The rotatable assembly further comprises a drive interface coupled with the housing. The drive assembly further comprises a manipulation base comprising a mounting plate onto which the cartridge is removably attached, and a drive system mounted to the mounting plate. The drive system is configured to operatively engage the cartridge drive interface and to impart rotational movement onto the rotatable assembly through the drive interface.