Autonomous catheterization assembly
An autonomous catheterization assembly includes a catheter arrangement for insertion into the vascular system of a patient. In an embodiment, the catheter arrangement includes a sensor arrangement to sense a condition in the interior of a vessel of the vascular system, a shape adjustment device arranged in a distal portion of the catheter arrangement, and an actuator arrangement to control the shape adjustment device to adjust the shape and/or orientation of the distal portion of the catheter arrangement. The autonomous catheterization assembly further includes a propulsion assembly to propel elements of the catheter arrangement through the vascular system of the patient; a route computation module to compute a route through the vascular system to a target; and a control unit to actuate the propulsion assembly based upon the computed route and/or in response to a sensed condition in the interior of a vessel of the vascular system.
1. An autonomous catheterization assembly, comprising:
a catheter arrangement configured to be inserted into a vascular system of a patient, the catheter arrangement including
a sensor arrangement configured to sense a condition in an interior of a vessel of the vascular system,
a shape adjustment device in a distal portion of the catheter arrangement, and
an actuator arrangement configured to control the shape adjustment device to adjust at least one of a shape or an orientation of the distal portion of the catheter arrangement;
a propulsion assembly configured to propel elements of the catheter arrangement through the vascular system of the patient;
processing circuitry configured to compute a route from a point of entry of the catheter arrangement through the vascular system to a target; and
a control unit configured to actuate the propulsion assembly at least one of based upon the computed route or in response to a sensed condition in the interior of the vessel of the vascular system.
2. The autonomous catheterization assembly of claim 1 , wherein the propulsion assembly is configured to advance and retract one element of the catheter arrangement, independently of other elements of the catheter arrangement.
3. The autonomous catheterization assembly of claim 2 , further comprising:
a distance tracker configured to track a distance travelled by an element of the catheter arrangement along the computed route.
4. The autonomous catheterization assembly of claim 2 , wherein the sensor arrangement includes at least one of
a pressure sensor,
an imaging device to capture images of the interior of the vessel, or
a blood pressure transducer.
5. The autonomous catheterization assembly of claim 2 , wherein the catheter arrangement is configured to transport at least one tool for performing a specific task inside the vascular system.
6. The autonomous catheterization assembly of claim 5 , wherein the at least one tool comprises at least one of
an embolectomy tool configured to detach an embolus from the vessel, or
a retriever tool configured to collect embolus material for removal from the patient.
7. The autonomous catheterization assembly of claim 1 , further comprising:
a distance tracker configured to track a distance travelled by an element of the catheter arrangement along the computed route.
8. The autonomous catheterization assembly of claim 1 , wherein the sensor arrangement includes at least one of
a pressure sensor,
an imaging device to capture images of the interior of the vessel, or
a blood pressure transducer.
9. The autonomous catheterization assembly of claim 1 , wherein the catheter arrangement is configured to transport at least one tool for performing a specific task inside the vascular system.
10. The autonomous catheterization assembly of claim 9 , wherein the at least one tool comprises at least one of
an embolectomy tool configured to detach an embolus from the vessel, or
a retriever tool configured to collect embolus material for removal from the patient.
11. The autonomous catheterization assembly of claim 9 , wherein the control unit is configured to deploy the at least one tool of the catheter arrangement at least one of
based upon a diagnosis, or
in response to a condition sensed by the sensor arrangement.
12. The autonomous catheterization assembly of claim 1 , wherein the catheter arrangement includes
a catheter configured to accommodate a guidewire including the shape adjustment device; and
the actuator arrangement.