Rotary-Linear Robotic Catheter Steering for Narrow Bronchi

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Solution Overview

Problem

Existing bronchoscopes, including robotic ones, are limited by a minimum diameter of 3.5 to 4.2 mm and have a large articulation radius, making them difficult to maneuver through the twisting bronchial tree, especially in the outer third of the lungs where many bronchi are inaccessible, and flexible needles used for further reach have a high risk of tearing vascular structures.

Innovation Solution

A catheter steering device with a drive system that synchronously rotates and steers a catheter using a cable, allowing for a two-degree of freedom system to navigate narrow bronchi while maintaining precision and avoiding damage, utilizing a rotary actuator and steering cable actuator to minimize diameter and increase flexibility.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the catheter diameter is reduced to access narrow bronchi, then accessibility to outer third of lungs is improved, but maneuverability and control precision deteriorate

Engineering Contradiction:

Improveaccessibility to narrow bronchiVSAvoidmaneuverability and control precision

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The catheter is divided into multiple articulation segments that can independently flex and rotate. This segmentation allows the catheter to navigate narrow bronchi while maintaining control through distributed articulation points, resolving the contradiction between reduced diameter for accessibility and maneuverability for operation.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The catheter incorporates dynamic articulation joints that enable real-time adjustment of bending angles and directions. This dynamic capability allows the catheter to adapt its shape for accessing narrow bronchi while maintaining operational control through active adjustment, resolving the contradiction between reduced diameter and maneuverability.

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If a flexible needle is used to extend reach, then accessibility to distant lesions is improved, but risk of vascular structure damage increases

Engineering Contradiction:

Improvereach to distant lesionsVSAvoidrisk of vascular structure damage

Core Design Contradiction:

Adaptability or versatilityVSObject-affected harmful factors

Solution Approach 1:

A controlled flexible extension mechanism serves as an intermediary between the rigid catheter body and the target lesion. This intermediary provides gradual, controlled extension with sensing capabilities to detect vascular structures, reducing the risk of damage while extending reach to distant lesions.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The flexible extension incorporates sensors that provide real-time feedback on tissue interaction forces and positional information. This feedback enables closed-loop control to detect and avoid vascular structures, resolving the contradiction between extended reach and reduced risk of vascular damage.

Inventive Principle:

Principle #23Feedback

3Manufacturing precision

If synchronous rotation of cable and catheter is implemented, then steering precision is improved, but system complexity increases

Engineering Contradiction:

Improvesteering precisionVSAvoidsystem complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The cable rotation and catheter rotation are merged into a single synchronous actuation mechanism. This combining of rotational movements into one coordinated system achieves precise steering control while minimizing the number of independent actuators, resolving the contradiction between steering precision and system complexity.

Inventive Principle:

Principle #5Merging (Combining)

Data Source

PatentUS12433693B2Rotary and linear actuated robotic catheter steering system

Publication Date: 2025.10.07 SYNCROBOTIX INC A UNITED STATES STATE OF DELAWARE CORP

AI summary

A catheter driving system is configured to navigate various medical catheters through complex narrow tissue openings or between organs and tissue planes, which may include lung bronchi pathway openings of 3 millimeters or less. These catheters may comprise one or more sections and optional steering cables. The catheter driving device comprises at least one rotary actuator configured to rotate at least one region of the catheter and at least one steering cable actuator configured to apply flexing force to control the direction of the catheter. To prevent the rotary actuator from tangling the steering cables, the system is further configured to rotate at least one steering cable along with the rotation of the rotated catheter region. This cable rotation may be 1:1 (e.g., synchronously) with the catheter rotation or may be configured to vary somewhat to accommodate catheter twisting, spring action, windup, and other effects.