Separable Robotic Catheter Handle with Direct Actuator Connection
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Solution Overview
Problem
Current robotic catheter systems face challenges in precise control due to slack and difficulty in transferring instant torques from motors to tendons, leading to cumbersome and inefficient manipulability during medical procedures.
Innovation Solution
A robotic catheter system with a handle containing integrated actuators and a separable housing cap that connects directly to the tendons, using magnets or other releasable mechanisms for secure attachment, allowing for direct force transmission and reducing slack, enabling more precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a tendon-sheath mechanism with multiple layers and gearing structures is used to connect actuators to tendons, then the system provides motorized control capability, but significant slack is introduced and instant torque transfer from motors to tendons becomes difficult
Solution Approach 1:
The catheter system is divided into separable components: a reusable handle containing actuators and a disposable catheter assembly containing tendons. This segmentation allows the actuator interface to be simplified while maintaining motorized control, as the handle directly interfaces with tendons without complex intermediate gearing structures.
Solution Approach 2:
The complex tendon-sheath mechanism with multiple layers and gearing structures is removed from the actuator connection path. Instead, actuators in the handle directly interface with tendons through a simplified mechanism, extracting the unnecessary intermediate components that caused slack and torque transfer issues.
2Ease of repair
If the handle with actuators is made separable from the housing for tendons, then the handle can be reused reducing costs, but the connection and disconnection process becomes more complex
Solution Approach 1:
The connection mechanism between handle and housing cap incorporates dynamic elements such as spring-loaded latches and movable locking features. These dynamic components enable automatic engagement and secure connection while allowing for easy disconnection, balancing reusability with operational simplicity.
Solution Approach 2:
A housing cap serves as an intermediary component between the handle and the catheter assembly. This cap contains the tendon anchors and provides a standardized interface that simplifies the connection process, allowing the handle to connect to different catheter assemblies through a consistent mechanism.
3Reliability
If magnets or releasable mechanisms are used to connect anchors to actuator shafts, then direct force transmission is achieved reducing slack, but the connection mechanism becomes more complex
Solution Approach 1:
Magnetic fields are used to replace complex mechanical connection mechanisms for attaching anchors to actuator shafts. The magnetic attraction provides secure, direct force transmission without slack, while eliminating the need for complex mechanical fasteners, screws, or clips. The connection is achieved through simple magnetic attraction that can be easily engaged and disengaged.
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
This design enhances the accuracy and efficiency of catheter manipulation by providing a direct connection between actuators and tendons, reducing the need for disposable components and allowing for reusable handles, thus lowering costs and improving procedural control.
Implementation Method 1
The anchors or ends of shafts are magnets such that the anchors are releasably connectable to the ends of the shafts via magnetism.
Data Source
AI summary
In a robotic or even manually controlled catheter, more direct connection of the force application (e.g., actuators) is provided from the handle to the tendons. The actuators are part of the handle. To avoid discarding the actuators after each use, the handle with the actuators is separable from a housing for the tendons. The housing for the tendons includes a clamp to hold the tendons in place prior to connecting with the handle and actuators.