Robotic Rotational Joint Brake for Stable Catheter Positioning
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Solution Overview
Problem
Existing robotic medical systems face challenges in navigating tortuous or calcified vasculature, particularly in requiring longer guidewires for over-the-wire catheters, which complicates single-operator exchanges and provides inadequate distal support.
Innovation Solution
A rotational joint assembly for robotic medical systems, featuring a brake with a cam actuator that allows selective engagement or disengagement, and a bellows assembly providing torsional rigidity to minimize backlash.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If over-the-wire catheters are used to navigate tortuous or calcified vasculature, then distal support is improved, but guidewire length increases and complicates single-operator exchanges
Solution Approach 1:
The robotic system divides the catheterization procedure into discrete robotic actions (positioning, rotating, advancing) rather than requiring a single long guidewire for manual manipulation. The robotic arm segments the guidance function across multiple controlled components.
Solution Approach 2:
The patent replaces the mechanical manipulation of long guidewires by hand with an automated robotic system that uses sensors, actuators, and control algorithms to navigate the catheter, eliminating the need for excessive guidewire length.
2Adaptability or versatility
If manual catheter manipulation is used, then operator flexibility is improved, but procedure time and complexity increase
Solution Approach 1:
The robotic system performs catheter manipulation autonomously based on pre-acquired imaging data, eliminating the need for continuous manual operator intervention and reducing procedure time while maintaining flexibility through programmable control.
Solution Approach 2:
The system performs preliminary actions by acquiring 3D vascular maps and pre-planning the catheter path before the actual intervention, allowing the robotic arm to execute predetermined movements efficiently without real-time manual guidance.
3Ease of operation
If rotational joints without braking mechanisms are used, then ease of rotation is improved, but positional stability deteriorates
Solution Approach 1:
The rotational joint uses a dynamically controllable brake that can be engaged or disengaged as needed, allowing the joint to transition between free rotation mode (for positioning) and locked mode (for stability during catheter manipulation).
Solution Approach 2:
The brake actuator responds to control signals that feedback the positional requirements of the robotic arm, engaging the brake when positional stability is needed and disengaging when rotation is required, creating a closed-loop control system.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The rotational joint assembly enables precise control and stable rotation of arm segments, facilitating single-operator procedures and providing adequate distal support, thus improving the efficiency and accuracy of robotic medical interventions.
Implementation Method 1
a brake to lock rotation of the arm segment at the rotational joint
Implementation Method 2
a bellows assembly providing torsional rigidity to minimize backlash
Data Source
AI summary
An example rotational joint assembly for a robotic medical system, the rotational joint assembly comprising at least one arm segment and a rotational joint provided at one end of the arm segment. The rotational joint is to allow the arm segment to rotate about a rotational axis. The rotational joint comprising a brake to lock rotation of the arm segment at the rotational joint and an actuator to selectively engage or disengage the brake. The actuator comprising a cam having two stable regions separated by two transition regions, the two stable regions comprising a first stable region corresponding to engagement of the brake and a second stable region corresponding to disengagement of the brake.