Robotic Vascular Access Arm for Precise Needle and Guidewire Insertion
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Solution Overview
Problem
Existing methods for vascular access, such as the Seldinger technique, require skilled operators to avoid complications like vessel perforation and hemorrhage due to human errors, necessitating improved guidance and consistency.
Innovation Solution
A robotic system with a manipulation device and robotic arm, equipped with motors and imaging, automates or semi-automates the insertion of needles, catheters, and guidewires into blood vessels, guided by ultrasound imaging and user input.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the Seldinger technique is performed manually by an operator, then the procedure can be performed with current technology, but human errors cause complications such as vessel perforation, pseudoaneurysm formation, and hemorrhage
Solution Approach 1:
The patent replaces the manual mechanical manipulation system with an automated robotic system. The robotic arm with motorized actuators substitutes for the operator's hands and tools, enabling precise needle, catheter, and guidewire insertion without human error. This mechanical substitution eliminates the skill-dependent variability inherent in manual Seldinger technique performance.
Solution Approach 2:
The robotic system performs the vascular access procedure autonomously once programmed with target coordinates and parameters. The system self-navigates the needle and catheter through the tissue to the target blood vessel, self-positions components, and self-manages the insertion process without requiring continuous operator intervention or expertise during the critical insertion phases.
2Manufacturing precision
If a robotic system is used to automate vascular access, then consistency and precision are improved, but device complexity increases
Solution Approach 1:
The robotic system is divided into distinct functional segments: a mobile base unit, a robotic arm with multiple joints, a manipulation device for holding instruments, and an imaging guidance system. Each segment performs a specific function and can be independently controlled or calibrated. This segmentation allows the complex overall system to be managed through modular components, reducing the practical complexity of operation and maintenance.
Solution Approach 2:
The robotic manipulation device is designed to accommodate multiple instruments (needles, catheters, guidewires) through a universal coupling mechanism. The same robotic arm and base system can perform different vascular access procedures by simply changing the attached instrument, eliminating the need for separate specialized equipment for each procedure type and reducing overall system complexity.
3Ease of manufacture
If manual operation is used for vascular access, then the procedure is simpler to implement, but complications arise from human errors and inconsistencies
Solution Approach 1:
The robotic system incorporates real-time feedback through imaging devices (ultrasound, fluoroscopy, or other visualization tools) that display the position of the needle, catheter, and guidewire relative to the target blood vessel. The system continuously monitors insertion depth, angle, and location, providing immediate feedback to adjust positioning. This closed-loop feedback mechanism eliminates the guesswork and inconsistency inherent in manual procedures, preventing complications before they occur.
Solution Approach 2:
Before the actual vascular access procedure, the robotic system performs preliminary actions including pre-planning the insertion path, pre-positioning the robotic arm at the optimal angle, and pre-aligning the imaging devices. The system calculates and verifies the entire procedure sequence in advance, ensuring that all components are correctly positioned before initiation. This preliminary preparation eliminates on-the-spot errors and ensures consistent, safe procedure execution.
Data Source
AI summary
An apparatus includes a cart having a vertical adjustment element configured to adjust a distance between the platform and a ground supporting the cart, the cart defining a surface for supporting an arm of the patient. The apparatus includes a manipulation device including a plurality of motors each configured to operably couple to a different one of a needle, a catheter, and a guidewire to selectively advance one or more of the needle, the catheter, and the guidewire, and a robotic arm having a first end mounted to the cart and a second end coupled to the manipulation device, the robotic arm having a plurality of segments joined together via a plurality of joints such that the robotic arm can be moved to position the needle, the catheter, and the guidewire for insertion into a target vessel in the arm.