Continuum Robot Bending Angle Control for Lung Safety
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Solution Overview
Problem
Existing continuum robot control systems face challenges in accurately defining the working space for bending angles within complex and dynamic organs like the lung, leading to a risk of strong contact and damage during minimally invasive procedures.
Innovation Solution
A continuum robot control system that includes a bending section driven by linear members, an imaging unit, and a control apparatus capable of estimating and restricting bending angles based on detected end positions and structural information, ensuring the bending section operates within a safe angle range to avoid strong contact with the lumen.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the working space is defined based on the volume of the organ, then the bending angle can be restricted to avoid strong contact, but it becomes difficult to accurately define the working space for complex organs like the lung with dynamic shapes
Solution Approach 1:
The patent transitions from defining working space using only volumetric constraints (3D volume-based) to incorporating spatial angular constraints (bending angle restrictions). By adding the dimension of bending angle control, the system can restrict the continuum robot's insertion portion to specific angular ranges relative to the lumen wall, providing more precise geometric control that accounts for the complex three-dimensional structures of organs like the lung.
Solution Approach 2:
The patent introduces bending angle parameters as additional control variables beyond volume constraints. By changing the control parameters from solely volumetric boundaries to include angular restrictions, the system gains the ability to define working spaces that respect both the volume of the organ and the geometric orientation of the lumen, thereby accurately controlling the continuum robot in complex anatomical structures.
2Reliability
If the bending angle restriction is based on predetermined working space, then operation safety can be improved, but the restriction may be too conservative or inaccurate for dynamic organs that change shape during breathing or movement
Solution Approach 1:
The patent implements dynamic bending angle restrictions that adapt to the actual shape and movement of the organ. Rather than using fixed, predetermined angular limits, the system continuously adjusts the bending angle constraints based on real-time feedback about the lumen's geometry and the continuum robot's position, allowing the working space definition to evolve with the organ's dynamic changes during breathing or movement.
Solution Approach 2:
The patent incorporates feedback mechanisms that use imaging data and position information to continuously update the bending angle restrictions. By monitoring the actual configuration of the lumen and the continuum robot's insertion portion, the system adjusts the angular constraints in real-time, ensuring that the working space definition remains accurate and adaptive to dynamic organ shapes rather than relying on static predetermined values.
3Ease of operation
If the continuum robot is allowed to bend freely to reach deep lung regions, then the ability to access target areas is improved, but the risk of accidental contact with the lumen wall increases
Solution Approach 1:
The patent applies preliminary anti-action by pre-defining bending angle restrictions that prevent the continuum robot from adopting configurations that would lead to contact with the lumen wall. Before the robot can accidentally contact the wall, the control system has already constrained the bending angles to ranges that inherently avoid such harmful interactions, thereby proactively preventing damage while still allowing access to deep lung regions through safe bending paths.
Solution Approach 2:
The patent changes the control parameters from unrestricted bending freedom to constrained bending within specific angular ranges. By modifying the bending angle parameters and establishing permissible ranges, the system maintains the continuum robot's ability to reach deep lung regions while transforming the uncontrolled bending motion into controlled, safe bending patterns that avoid contact with the lumen wall.
Data Source
AI summary
A control apparatus, in a case where a characteristic region related to a path of a lumen of a subject greater than or equal to a predetermined area is included in a field of view of an imaging unit in bending a bending section of a continuum robot in a predetermined direction, estimates an angle restriction value for a bending angle of the bending section based on an end position of the bending section detected after insertion of the bending section into the lumen and structural information about the lumen. In bending the bending section in the predetermined direction, the control apparatus restricts driving of a driving unit so that the bending section bends within the range of the estimated angle restriction value.