Steerable Surgical Robotic System Guidewire Control
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Solution Overview
Problem
Current robotic systems for guiding catheters and guidewires in medical procedures lack precise control over the relative motions, particularly the ability to rotate the guidewire about its axis, making it difficult to navigate tortuous anatomy and branch lumens effectively.
Innovation Solution
A steerable robotic controller system with a sheath and guidewire driver mechanism that includes pinch roller assemblies and motors for fine movement control, allowing independent control of the sheath and guidewire, along with a bendable guidewire tip actuated by an ionic electroactive polymer actuator for precise orientation and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic system uses a sheath and guidewire with independent drivers, then the control precision over relative motions is improved, but the device complexity increases
Solution Approach 1:
The robotic system is divided into separate functional modules: a sheath driver mechanism and a guidewire driver mechanism, each with independent motors and control systems. This segmentation enables precise independent control of sheath advancement and guidewire rotation, resolving the technical contradiction by achieving high control precision through modular architecture while managing complexity through functional separation.
2Adaptability or versatility
If the guidewire can be rotated about its axis independently, then the ability to navigate tortuous anatomy is improved, but the ease of operation deteriorates
Solution Approach 1:
The system merges the sheath driver and guidewire driver into a single integrated robotic controller with coordinated control. The independent guidewire rotation capability is combined with sheath advancement control, allowing the operator to navigate tortuous anatomy through coordinated motions while maintaining ease of operation via unified control interfaces and automated coordination algorithms.
3Manufacturing precision
If pinch roller assemblies are used for fine movement control, then the manufacturing precision is improved, but the device complexity increases
Solution Approach 1:
The system replaces traditional mechanical transmission mechanisms with motorized pinch roller assemblies that use controlled friction and motor torque for fine movement. This substitution eliminates complex mechanical linkages while achieving precise control through electronic motor control, thereby improving movement precision while managing overall device complexity through simpler mechanical structures.
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 precise and controlled advancement and rotation of the guidewire within the body, improving the ability to position the distal tip in complex anatomical structures, enhancing the deployment of devices like stents or balloons in robotic surgery.
Implementation Method 1
a bendable guidewire tip actuated by an ionic electroactive polymer actuator for precise orientation and navigation
Data Source
Figure 1
Figure 2A~2B
Figure 3A~3B
AI summary
Provided herein as a steerable surgical robotic system for positioning a catheter comprising a sheath and a guidewire within a patient body, including a sheath driver configured to advance and retract a sheath having a hollow interior along a sheath advance and retract path extending therein, a guidewire driver configured to advance and retract a guidewire along a guidewire advance and retract path extending therein, wherein each of the sheath advance and retract path and the guidewire advance and retract path extend between pairs of rollers in the respective sheath and roller drivers, and the paths are parallel to each another.