Steerable Medical Device Motor Reduction via Unified Spool Actuation
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Solution Overview
Problem
Existing medical devices, such as endoscopes and imaging catheters, require multiple motors or actuators to achieve steerable functionality, which can be cumbersome and inefficient for navigating tortuous anatomical passageways.
Innovation Solution
A steerable device with a reduced number of motors or actuators is achieved by using first and second control wires connected at the distal end, where the first control wire is actuated by an actuator and the second by a biasing force generator, allowing for 2-way or 4-way articulation without the need for multiple motors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple motors or actuators are used to control each control wire for steerable functionality, then the device achieves full steerability and articulation capability, but the device complexity and number of components increase
Solution Approach 1:
The patent combines the functions of multiple motors into a single motor that drives a shared spool. The spool is configured to wind and unwind control wires in a coordinated manner, allowing one motor to control multiple wires simultaneously. This merging approach maintains the steerable device's ability to articulate in multiple directions while significantly reducing the total number of motors required.
Solution Approach 2:
The single motor and spool assembly serves multiple functions: it controls both the first and second control wires, enables bending in multiple directions, and provides articulation capability equivalent to what would traditionally require separate motors for each wire. The spool acts as a universal control mechanism that manages multiple control functions through a unified actuation system.
2Ease of operation
If multiple motors are used to control multiple control wires, then precise control in multiple directions is achieved, but the overall device size and component count increase
Solution Approach 1:
Multiple motor functions are merged into a single motor-spool assembly, reducing the overall volume occupied by actuation components. The shared spool mechanism allows coordinated control of multiple wires from a compact central location, maintaining precise multi-directional control while minimizing the space required for the control system.
3Adaptability or versatility
If traditional multi-motor control systems are used, then full articulation capability is maintained, but the system becomes more cumbersome and less efficient for navigating tortuous passageways
Solution Approach 1:
The control system merges multiple actuation functions into a single coordinated mechanism, reducing the time and complexity involved in controlling the steerable device. The unified motor-spool system can rapidly adjust control wire tensions in a coordinated fashion, improving the speed and efficiency of navigation through tortuous anatomical passageways while maintaining full articulation capability.
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 configuration maintains full steerability while reducing the complexity and number of motors needed, enhancing the ability to navigate complex body passageways and expand viewing areas during medical procedures.
Implementation Method 1
a biasing force generator connected to the proximal end of the second control wire
Data Source
AI summary
A system includes a steerable device, such as a sheath or shaft, having proximal and distal ends. The steerable device includes an elongated body having a proximal section, a steering section, and a distal tip. Control wires are routed through the body and connected at or near the distal end of the steerable device. The system further includes a control unit to which the proximal end of the steerable device is functionally connected. In one embodiment, the control unit includes an actuator connected to one control wire and a biasing force generating device connected to a second control wire. The steering section is controllably manipulated by the control unit to facilitate steering of the distal tip of the steerable device as the steerable device is advanced through tortuous passageways of a patient's body.