Concentric Tube Manipulator for Non-Planar Endoscope Bending
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Solution Overview
Problem
Existing endoscopic systems struggle to navigate tortuous pathways and are limited by their inability to bend in multiple, non-planar directions, necessitating multiple reinsertions and repositionings during surgical procedures.
Innovation Solution
A visual inspection apparatus comprising concentrically nested tubes with selectively weakened sections, allowing for independent actuation of multiple degrees of freedom through agonist/antagonist actuation methodology, enabling co-planar and non-co-planar bending capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional endoscopic systems are used, then the system structure is simple, but the system can only bend in a single co-planar direction and requires multiple reinsertions to navigate pathways
Solution Approach 1:
The endoscope is divided into multiple concentric tubes (first tube, second tube, third tube), each with independent deflectable sections. This segmentation allows each tube to bend independently in different directions, enabling multi-directional navigation while maintaining a manageable structural complexity through modular design.
Solution Approach 2:
The patent implements a concentric tube arrangement where the second tube is nested within the first tube, and the third tube is nested within the second tube. This nesting approach enables multiple degrees of freedom for bending in different directions while maintaining a compact, simple external structure that does not require multiple separate components.
2Productivity
If conventional endoscopic systems are used, then the device is easy to manufacture, but multiple reinsertions are required to navigate pathways
Solution Approach 1:
The endoscope incorporates dynamic bending capabilities through selectively weakened deflectable sections in each tube. These sections can be actuated to bend the tubes in different directions at different locations, enabling the distal end to navigate complex tortuous pathways dynamically during a single insertion, thereby eliminating the need for multiple reinsertions and improving surgical efficiency.
3Strength
If the tubes are made rigid for structural stability, then the tube strength is high, but the tubes cannot bend in multiple non-coplanar directions
Solution Approach 1:
The patent applies local quality by creating selectively weakened deflectable sections at specific locations along each tube while maintaining the overall structural integrity and strength of the tube. The deflectable sections are positioned at specific distances from the proximal end, allowing the tubes to bend in controlled manner in multiple directions while the rest of the tube maintains its strength for navigation and manipulation.
Data Source
AI summary
The present disclosure provides for a visual inspection apparatus. The apparatus may include a concentrically nested tube assembly having a first tube, a second tube, and a third tube. In some embodiments, the first tube includes a first deflectable section, the second tube includes a second deflectable section, and the third tube includes a third deflectable section. The first, second, and third deflectable sections may be selectively weakened portions of the first, second, and third tubes. The first and second tubes may be joined at a location distal to the first and second deflectable sections. The tube assembly may be actuable to form a first bend by relative axial translation between the first tube and the second tube, and the tube assembly may be actuable to form a second bend by relative axial transaction between the second tube and the third tube. Such bending may be co-planar or non-co-planar.