Articulatable Distal Portion Stabilization During Proximal Motion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Tools with articulatable distal portions, particularly in medical contexts, face challenges in maintaining orientation and stability due to unintentional movements of the proximal end, leading to unsteadiness and disruptions in the field of view during minimally invasive procedures.
Innovation Solution
A system comprising a processing unit that determines a target and controls the pose of the articulatable distal portion to maintain its direction towards the target, even as the shaft undergoes motion, ensuring the target remains in view or aligned correctly, using sensors and actuation assemblies to stabilize the imaging device or end effector.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the proximal end of the tool is moved to avoid collisions or due to operator movement, then the tool can navigate the workspace more flexibly, but the orientation of the distal portion becomes unstable and unintentional changes occur
Solution Approach 1:
The system dynamically adjusts the distal portion orientation in real-time based on proximal end motion detection. Sensors monitor the motion of the proximal end, and the system actively compensates by adjusting the distal portion to maintain stable orientation toward the target, transforming a static orientation problem into a dynamic control solution.
Solution Approach 2:
The system implements a feedback loop where sensors detect proximal end motion, the processing unit calculates the resulting orientation change, and the distal portion is adjusted accordingly to maintain proper targeting. This closed-loop control ensures that orientation stability is maintained despite proximal end movements.
2Adaptability or versatility
If the proximal end of the tool is retracted or inserted to provide views from various distances, then the field of view can be adjusted, but the view becomes unsteady and the field of view orientation changes unintentionally
Solution Approach 1:
The system dynamically compensates for proximal end retraction or insertion movements by adjusting the distal portion orientation in real-time. This ensures that the field of view remains steady and properly oriented toward the target despite changes in working distance.
Solution Approach 2:
Sensors detect the retraction or insertion motion of the proximal end, and the system uses feedback control to adjust the distal portion, maintaining a stable and correctly oriented view throughout the motion.
3Adaptability or versatility
If the tool is configured with both hand-operated controls and robotic manipulator interfaces, then the tool can be operated in multiple modes, but the control complexity increases
Solution Approach 1:
The system uses feedback from sensors to automatically adjust the distal portion orientation regardless of which control mode is active. This unified feedback mechanism simplifies the control complexity by providing consistent automatic stabilization across both manual and robotic operation modes.
Solution Approach 2:
The control system is designed to handle both hand-operated and robotic manipulator interfaces through a universal control architecture. The same sensor feedback and processing unit manage both operation modes, reducing overall system complexity despite the multiple operation capabilities.
Data Source
AI summary
A system comprises a medical tool including a shaft having proximal and distal ends and an articulatable distal portion coupled to the distal end of the shaft. The system also comprises a processing unit including one or more processors. The processing unit is configured to determine a target in a medical environment. The articulatable distal portion is directed toward the target. The processing unit is also configured to determine a motion of at least a portion of the shaft, and in response to the determined motion, control a pose of the articulatable distal portion so that the articulatable distal portion remains directed toward the target.