Image-Guided Robotic Arm for Vibration-Assisted Lumen Access
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Solution Overview
Problem
Existing methods for inserting medical devices into body lumens, such as central venous catheters, suffer from high failure rates and complications due to inaccurate placement, tissue deformation, and contamination risks, particularly when using surface anatomy landmarks and manual insertion techniques.
Innovation Solution
An image-guided robotic system with a linear actuator and vibrational actuator is used to advance a penetrating member, such as a needle, into a body lumen, utilizing ultrasound imaging for precise targeting and vibration to mitigate tissue deformation, while maintaining sterility and facilitating guidewire insertion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If surface anatomy landmarks are used to guide needle insertion, then the procedure is simple and quick, but placement accuracy is poor leading to high failure rates and complications
Solution Approach 1:
The patent introduces an intermediary device - a transparent sterile drape with a window - that allows ultrasound imaging to be viewed directly at the procedure site. This mediator bridges the gap between simple manual operation and precise image-guided placement, enabling real-time visualization of deep vein location without requiring complex equipment setup or specialist training
Solution Approach 2:
The patent replaces the mechanical landmark-based guidance system with an image-based guidance system using ultrasound. Instead of relying on surface anatomy correlations, the system uses real-time ultrasound imaging to directly visualize the target vein and guide needle placement, substituting tactile/mechanical estimation with optical/acoustic visualization
2Measurement precision
If ultrasound guidance is used to improve placement accuracy, then failure rates decrease, but the procedure becomes more complex and requires specialized training
Solution Approach 1:
The transparent sterile drape acts as an intermediary that integrates ultrasound imaging directly into the procedure field. By placing the ultrasound screen on the drape itself, the system eliminates the need for separate monitors and complex equipment arrangements, reducing procedural complexity while maintaining image guidance benefits
Solution Approach 2:
The sterile drape serves multiple functions: it maintains sterility, provides a mounting surface for the ultrasound screen, creates a viewing window for real-time imaging, and can be disposed of after use. This multi-functionality reduces the number of separate components needed, simplifying the overall system
3Productivity
If manual insertion techniques are used, then the procedure is quick to perform, but tissue deformation occurs leading to vessel collapse and procedural failure
Solution Approach 1:
The patent applies mechanical vibration to the needle during insertion through a vibrational actuator. This vibration reduces tissue resistance and prevents tissue deformation and vessel collapse that occur with manual pushing, enabling faster insertion without the harmful effects of excessive force
Solution Approach 2:
The patent replaces manual mechanical insertion with an automated robotic system that combines linear actuation for precise positioning and vibrational actuation for smooth tissue penetration. This substitution eliminates the uncontrolled forces applied during manual insertion while maintaining quick procedure times
4Object-affected harmful factors
If robotic automation is used to eliminate tissue deformation, then insertion safety improves, but device complexity and cost increase
Solution Approach 1:
The robotic system is segmented into modular functional components: a linear actuator for positioning, a vibrational actuator for tissue penetration, and control systems. This segmentation allows each component to be optimized independently and simplifies integration, reducing overall system complexity while maintaining the benefits of automation
Solution Approach 2:
The transparent sterile drape with integrated ultrasound display serves as an intermediary that simplifies the robotic system's interface with the clinician. By providing real-time visual feedback directly at the procedure site, it reduces the complexity of monitoring and control that would otherwise require separate sophisticated systems
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 system significantly reduces complications by improving placement accuracy, minimizing tissue deformation, and reducing contamination risks, enabling safer and more efficient insertion of medical devices.
Implementation Method 1
a vibrational actuator for vibrating the penetrating member at a selected frequency
Implementation Method 2
a linear actuator for linearly advancing the penetrating member into the body lumen
Data Source
AI summary
An image-guided robotic system for advancing a penetrating member into a body lumen located beneath a skin surface of a patient, the image-guided robotic system comprising: a detector for obtaining data representative of a location of the body lumen beneath the skin surface of the patient; a robotic arm comprising: a penetrating member; a linear actuator for linearly advancing the penetrating member into the body lumen; a vibrational actuator for vibrating the penetrating member at a selected frequency; a processor in communication with the detector, the linear actuator and the vibrational actuator, the processor being configured to: (i) receive the data representative of the location of the body lumen from the detector; (ii) calculate the distance to a preselected target point within the body lumen; (iii) transmit linear advancement instructions to the linear actuator to linearly advance the penetrating member through the skin surface, through tissue between the skin surface and the body lumen and into the preselected target point within the body lumen, wherein the linear advancement instructions comprise the speed and distance required for the linear actuator to advance the penetrating member through the skin surface, through tissue between the skin surface and the body lumen and into the body lumen at the preselected target point within the body lumen; (iv) transmit vibrational instructions to the vibrational actuator to vibrate the penetrating member; and (v) automatically modify at least one of the linear advancement instructions and the vibrational instructions in order to account for resistance encountered by the penetrating member during advancement of the penetrating member through the skin surface, through the tissue between the skin surface and the body lumen and into the preselected target point within the body lumen, wherein at least one of the linear advancement instructions and the vibrational instructions is modified to mitigate deformation of the body lumen as the penetrating member advances through the skin surface, through tissue between the skin surface and the body lumen and into the preselected target point within the body lumen.