Roller Drive Mechanism for Catheter Axial and Rotational Motion
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Solution Overview
Problem
Current robotic interventional systems for minimally invasive surgery face challenges in efficiently inserting and rotating catheter components, particularly due to complex loading procedures and incompatibility with sterile environments.
Innovation Solution
A drive apparatus with a roller assembly and support system that imparts axial and rotational motion independently, allowing for simultaneous and infinite motion of elongate members like guidewires or catheters, while maintaining contact and being compatible with sterile environments through disposable components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If gripping devices are used for catheter insertion and rotation, then catheter components can be manipulated, but the devices require complex loading procedures and are incompatible with sterile environments
Solution Approach 1:
The system divides the catheter manipulation function into separate independent modules: a roller assembly for axial insertion motion and a rotation assembly for rotational motion. Each module can be independently controlled and replaced, allowing the gripping device to be exchanged for a sterile disposable component while maintaining manipulation capabilities
Solution Approach 2:
The invention introduces a disposable gripping device that can be sterilized and discarded after use. This disposable component replaces the complex, non-sterile gripping mechanism, enabling compatibility with sterile environments while maintaining ease of catheter manipulation through simple roller-based mechanics
2Ease of operation
If separate mechanisms are used for axial and rotational motion, then motion control is improved, but device complexity increases
Solution Approach 1:
The system separates axial and rotational motion control into distinct assemblies: a roller assembly that provides axial insertion through simple rolling contact, and a rotation assembly that provides rotational motion through gear mechanisms. This segmentation allows each subsystem to be optimized independently with simpler mechanics
Solution Approach 2:
The roller assembly and rotation assembly are integrated through a common drive shaft and synchronized control system, allowing both axial and rotational motions to be coordinated from a single control interface. This merging maintains ease of operation while the modular design keeps individual component complexity low
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
Enables efficient and precise insertion and rotation of catheter components, reducing procedural complexity and ensuring compatibility with sterile environments, thereby enhancing the effectiveness of minimally invasive surgical procedures.
Implementation Method 1
a roller assembly configured to impart axial motion to the elongate member along a first continuous surface configured to maintain contact with the elongate member during axial motion
Implementation Method 2
a roller support configured to rotate the roller assembly, thereby imparting rotational motion to the elongate member
Data Source
AI summary
An exemplary drive apparatus may include a roller assembly and a roller support. The roller assembly may have a first continuous surface, a second continuous surface, an open configuration for receiving an elongate member, and a closed configuration for securing the elongate member in the roller assembly. The roller assembly imparts axial motion to the elongate member along the first continuous surface, which maintains contact with the elongate member during the axial motion. The roller support rotates the roller assembly about the second continuous surface, which maintains contact with the roller support during rotational motion. The roller assembly and roller support to impart axial and rotational motion, respectively, independently of one another.