Torque Limiting Actuator for Medical Device Torquer
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Solution Overview
Problem
Current robotic medical procedure systems face challenges in navigating elongated medical devices through tortuous or calcified vasculature, particularly in requiring excessive guidewire length for over-the-wire catheters, which complicates single-operator exchange and provides inadequate support in distal territories.
Innovation Solution
A torque limiting actuator is introduced to secure and manipulate elongated medical devices, limiting torque application to a predetermined value, featuring a manual operator with a clutch mechanism and haptic feedback, ensuring controlled pinching and releasing of the device to prevent excessive force and facilitate single-operator procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If over-the-wire catheters are used to navigate tortuous or calcified vasculature, then device support and navigation capability are improved, but excessive guidewire length is required which complicates single-operator exchange
Solution Approach 1:
The torquer mechanism dynamically adjusts the gripping force on the catheter shaft through controlled torque application. The actuator translates rotational motion into axial displacement of the torquer body, which compresses the spring and increases pad pressure on the catheter, providing adaptable support during navigation while maintaining manageable wire length
Solution Approach 2:
The system changes the physical parameters of the catheter-torquer interface by varying the normal force applied by the pads through spring compression. This allows the same device to provide different levels of support depending on the procedure requirements, enabling both strong support for tortuous anatomy and controlled release for exchange procedures
2Measurement precision
If torque is increased to prevent device slippage during manipulation, then manipulation precision is improved, but device damage or excessive force risk increases
Solution Approach 1:
The spring-loaded pad system provides beforehand cushioning by absorbing excess torque through spring compression. When torque exceeds the predetermined threshold, the spring compresses and the clutch disengages, preventing transmission of damaging forces to the catheter while maintaining precise control during normal operation
Solution Approach 2:
The clutch mechanism acts as an intermediary between the actuator and the torquer pads. It transmits torque only up to the predetermined threshold, blocking any excessive torque from reaching the catheter, thus protecting the device while maintaining manipulation precision within safe limits
3Manufacturing precision
If manual torque control is implemented with clutch mechanism, then torque precision is improved, but device complexity increases
Solution Approach 1:
The clutch mechanism is self-regulating and requires no external control system. It automatically engages and disengages based on the torque threshold, with the spring providing both the force transmission medium and the threshold-setting mechanism. This mechanical self-service approach achieves precise torque control without adding complex electronic or control system components
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 torque limiting actuator enables controlled and efficient manipulation of elongated medical devices, reducing the risk of device slippage and damage, allowing for single-operator exchange and improved support during complex procedures, enhancing the precision and safety of robotic medical interventions.
Implementation Method 1
a spring or other biasing member separate from the pad, the spring or other biasing member biasing the pad
Implementation Method 2
The actuator may include a clutch that limits the torque applied to the torquer
Data Source
AI summary
A torquer releasably securing an elongated medical device thereto and including a torque limiting actuator limiting a torque applied to the torquer.