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Electrophysiology. Power Steered Catheter Control System. Karlin Bark, Marlo Dreissigacker, Gabriel Sanchez, Dan Santos. Paul Wang, MD Amin Al-Ahmad, MD.

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Electrophysiology

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Electrophysiology l.jpg

Electrophysiology

Power Steered Catheter Control System

Karlin Bark, Marlo Dreissigacker, Gabriel Sanchez, Dan Santos

Paul Wang, MD

Amin Al-Ahmad, MD

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Electrophysiology and Arrhythmia

  • Electro-physiologists detect abnormal electrical pathways in the heart by recording electrical activity within the heart chambers

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Non-Surgical Procedure

Catheter insertion point

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Current State of the ArtManual

  • Multi-Degree of Freedom

    • Bi-directional

    • Torsion Control

    • Telescoping Tip

  • Increased Mapping Area

    • Ring of Contacts

    • Balloon Catheter

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Current State of the ArtRobotic

  • Hansen Medical

    • Robotically Controlled Catheter

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Clinical Need Finding

  • Surgeon “wish-list”

    • More comfortable and simple to use

    • Easier control of distal tip

    • Finer positioning resolution of distal tip

    • Larger range of motion of distal tip

    • Tactile feedback

  • Statements

    • “uncomfortable”, “tiring”, “fingers hurt”, “not intuitive at all”

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Current design problems

  • Simple mechanical designs:

    • Manual positioning limits accuracy

    • Physically taxing user-interface

    • Uncomfortable user-interface

  • Advanced robotic designs:

    • Not intuitive

    • No direct tactile feedback

    • Requires re-training

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Design Specifications

  • Focus on manual input device that doctor uses

  • Specifications:

    • Electromechanical - Smart Mechanical Drive

    • Bi-directional control

    • One-handed operation - familiar to doctors

    • In-line structure

    • Non-backdriveable

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Smart Mechanical Drive

  • Internal motor actuates push-pull cables based on doctor’s input

  • Power Steering

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Input Mechanism

  • Linear Slide

  • Axially Symmetric

  • Low Friction

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Linear

Sensor

Limit

Switches

µController

PIC

Power

Supply

Motor

Driver

Electronics

  • Proportional Speed Control

  • Dead-band Throttle

  • Travel Limits

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Demonstration

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Design Improvements

larger pitch

manual override

spring mechanism

smaller diameter

shorter length

  • Decrease overall size

  • Manual override

  • Increase speed

  • Advanced Control

  • Self-Centering Ring

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Conclusions

  • Less physical effort to use

  • Similar motion and interface: no additional training

  • Could transition into real-world market easily

    • Minor change on existing, common device

    • Only a small increase in cost

      • +$50 for a device that costs $600-$1000+

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Acknowledgements

  • Dr. Paul Wang, Dr. Amin Al-Ahmed, Bryant Lin

  • Craig Milroy and Raj Doshi

  • Laura Melton

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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Questions?

ME294: Medical Device Design Autumn 2005 Bark, Dreissigacker, Sanchez, Santos


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