Robotic Drive Modules for Stable Catheter and Guidewire Navigation
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Solution Overview
Problem
Existing robotic systems for navigating elongated medical devices in minimally invasive procedures face challenges with stability and ease of use, particularly in complex vasculature, requiring multiple operators for over-the-wire catheters and inadequate support in rapid exchange systems.
Innovation Solution
A robotic drive system with independently controllable device modules that can switch between configurations, including triaxial and biaxial arrangements, to manage both catheters and wire-based devices, providing enhanced stability and support while allowing single-operator operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If multiple operators are used for over-the-wire catheters, then stability and support are improved, but device complexity and operational difficulty increase
Solution Approach 1:
The patent combines multiple device functions into a single integrated robotic system. The robotic system integrates catheter manipulation, guidewire navigation, and imaging guidance into one unified platform, eliminating the need for multiple separate operators while maintaining stability through coordinated automated control of all components
Solution Approach 2:
The robotic system performs self-guidance and self-positioning through integrated imaging sensors and automated navigation algorithms. The system independently tracks anatomical landmarks, calculates optimal paths, and executes navigation without requiring multiple human operators, thereby maintaining stability while reducing operational complexity
2Ease of operation
If rapid exchange systems are used, then ease of operation is improved, but support in complex vasculature becomes inadequate
Solution Approach 1:
The robotic system dynamically adjusts its support and manipulation capabilities based on real-time feedback from imaging sensors and force sensors. The system can transition between different manipulation modes (pushing, pulling, rotating) and adjust its mechanical impedance to provide appropriate support in complex vasculature while maintaining ease of operation through automated control
Solution Approach 2:
The system incorporates continuous feedback from imaging systems, force sensors, and position encoders to monitor device location and manipulation forces. This feedback is processed by control algorithms that automatically adjust manipulation parameters to maintain adequate support in complex vasculature, thereby improving reliability without sacrificing ease of operation
3Measurement precision
If robotic systems navigate elongated medical devices in complex vasculature, then precision is improved, but ease of operation deteriorates
Solution Approach 1:
The patent replaces manual mechanical manipulation with automated robotic manipulation. The robotic system uses computer-controlled actuators, sensors, and algorithms to navigate devices through complex vasculature, achieving high precision through automated path planning and execution while maintaining ease of operation through intuitive control interfaces and automated decision-making
Solution Approach 2:
The robotic system is designed as a universal platform capable of performing multiple functions (catheter insertion, guidewire navigation, device deployment, imaging guidance) through a single integrated system. This multi-functionality allows the system to maintain ease of operation by providing consistent, automated control across different procedural steps while achieving high precision through coordinated multi-functional operations
Data Source
AI summary
A robotic drive system for driving one or more elongated medical devices, the robotic drive can include a linear member and at least four device modules coupled to the linear member. Each device module may be independently controllable. The plurality of device modules may be switched between a first configuration where each device module is populated with an elongated medical device and a second configuration where a subset of the at least four device modules is populated with an elongated medical device.