Surgical Robot Guide-Wire Control With Non-Contact Magnetic Coupling
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Solution Overview
Problem
Existing surgical robotic systems for inserting catheters and guide wires are complex, difficult to operate, and lack reliability and precision due to the smooth and sterile requirements of these devices, leading to challenges in robotization.
Innovation Solution
A surgical robot system with a remote microcomputer control end that allows for precise control of guide wire, balloon/stent, and guide catheter movements through modules like rotating assemblies, traveling components, and Y-typed assemblies, using non-contact motors and magnetic induction couplings to maintain sterility and reduce unwanted displacements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If traditional manual insertion methods are used, then the procedure is simple and reliable, but automation and precision are lost
Solution Approach 1:
The robotic system is divided into separate modular components: a robotic arm for positioning, a catheter holder for grasping, and the catheter device itself. This segmentation allows each module to be optimized independently while maintaining overall system reliability through standardized interfaces and modular replacement capabilities.
Solution Approach 2:
A specialized catheter holder acts as an intermediary between the robotic arm and the catheter device. This holder provides a secure grasping interface that maintains catheter stability during automated manipulation while allowing precise control of insertion movements, thereby bridging the gap between robotic automation and reliable catheter delivery.
2Ease of operation
If the catheter is grasped firmly for robotization, then control is improved, but sterility is compromised
Solution Approach 1:
The catheter holder serves as a sterile barrier and intermediary component that the robotic arm manipulates instead of directly grasping the catheter. This holder can be sterilized separately and maintains a sterile interface, allowing the robotic system to control catheter movements without compromising the sterility of the catheter itself during the insertion procedure.
Solution Approach 2:
The grasping function is extracted from the robotic arm and transferred to a dedicated catheter holder. This separation allows the holder to be designed specifically for maintaining catheter sterility while providing adequate control, removing the conflict between firm grasping for control and maintaining sterility.
3Measurement precision
If complex robotic systems are implemented, then precision is improved, but device complexity increases
Solution Approach 1:
The system is segmented into a simplified robotic arm for coarse positioning and a specialized catheter holder for fine control. This segmentation allows each component to be less complex individually while achieving high overall precision through the coordinated action of simple positioning followed by precise manipulation at the holder level.
Solution Approach 2:
The catheter holder is designed with self-aligning features and inherent mechanical constraints that automatically maintain proper orientation and positioning during insertion. This self-service capability reduces the need for complex active control systems, achieving precision through passive mechanical design elements.
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
The system ensures accurate and reliable operation with reduced contamination risk, allowing for convenient cleaning and precise control of guide wires, balloons, and stents, enhancing the safety and efficiency of vascular interventions.
Implementation Method 1
the non-contact motor system includes a motor, a first magnetic induction coupling coupled to the motor and driven by the motor, a second magnetic induction coupling corresponding to the first magnetic induction coupling
Implementation Method 2
the friction wheel set clamps the balloon catheter or the stent catheter to move it advance or retreat
Data Source
Figure 1a~1b
Figure 2~3
Figure 4~5
AI summary
Disclosed is a surgical robot system, comprising a terminal execution system, the terminal execution system comprising a guide wire control module, a balloon/stent control module and a guide catheter control module. The guide wire control module comprises a rotating assembly, the rotating assembly comprising a rotating wheel set, a rotary shaft that is concentrically connected to the rotating wheel set, a planet gear that is sleeved on the rotary shaft and that can slide relative to the rotary shaft, and a sun gear that meshes with the planet gear, wherein a wire slot for embedding a guide wire is disposed on the sun gear; and the guide wire control module also comprises an advancing assembly, the advancing assembly comprising an advancing wheel set, a transmission screw that is concentrically connected to a bevel gear of the advancing wheel set, and a fixed disk for supporting the sun gear. The present invention is used for remotely controlling during surgery the rotation, advancing and retreating of a guide wire. The present invention can also simultaneously control a balloon catheter or stent catheter and guide the advancing or retreating of the catheter; multiple interventional surgical consumables are combined into one system, which is compatible with interventional surgical consumables of each manufacturer; in addition, operation is simple, and accuracy is high.