Electrophysiology Power Steered Catheter Control System Karlin Bark

Electrophysiology Power Steered Catheter Control System Karlin Bark, Marlo Dreissigacker, Gabriel Sanchez, Dan Santos Paul Wang, MD Amin Al-Ahmad, MD ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

Electrophysiology and Arrhythmia • Electro-physiologists detect abnormal electrical pathways in the heart by recording electrical activity within the heart chambers ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

Non-Surgical Procedure Catheter insertion point ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

Current State of the Art Manual • Multi-Degree of Freedom – Bi-directional – Torsion Control – Telescoping Tip • Increased Mapping Area – Ring of Contacts – Balloon Catheter ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

Current State of the Art Robotic • Hansen Medical – Robotically Controlled Catheter ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

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” ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

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 ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

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 ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

Smart Mechanical Drive Internal motor actuates push-pull cables based on doctor’s input Power Steering ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

Input Mechanism • Linear Slide • Axially Symmetric • Low Friction ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

Electronics Linear Sensor Limit Switches µController PIC Power Supply ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Motor Driver • Proportional Speed Control • Dead-band Throttle • Travel Limits Autumn 2005 Bark,

Demonstration ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

Design Improvements larger pitch manual override spring mechanism short • Decrease overall size • Manual override • Increase speed ME 294: Medical Device Design Dreissigacker, Sanchez, Santos smaller diameter er len g th • Advanced Control • Self-Centering Ring Autumn 2005 Bark,

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+ ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

Acknowledgements • Dr. Paul Wang, Dr. Amin Al-Ahmed, Bryant Lin • Craig Milroy and Raj Doshi • Laura Melton ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,

Questions? ME 294: Medical Device Design Dreissigacker, Sanchez, Santos Autumn 2005 Bark,