Continuum Robot Control System for Multi-Tool Channel Insertion
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Solution Overview
Problem
Existing continuum robots face challenges in efficiently inserting and extracting multiple tools through a tool channel due to the bending angle limitations of their flexible endoscopes, which increases the time and effort required for medical procedures, especially when dealing with high-rigidity tools.
Innovation Solution
A continuum robot control system that includes a control device capable of determining the maximum bending angle for each tool, setting the smallest maximum value as the allowed bending angle, and controlling the driving portion to maintain the bending within this range, ensuring all tools can pass through the tool channel without obstruction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the bending portion is bent at a large angle to reach deep parts inside the body, then the insertion portion can reach deeper locations, but high-rigidity tools cannot pass through the tool channel
Solution Approach 1:
The system dynamically adjusts the bending angle based on the type of tool being inserted. When a high-rigidity tool is detected, the control device limits the bending angle to a predetermined threshold value. When a flexible tool is used, larger bending angles are permitted. This dynamic adaptation resolves the contradiction by making the bending angle flexible rather than fixed.
Solution Approach 2:
The control device changes the parameter of bending angle according to the tool type. By identifying whether the tool is high-rigidity or flexible, the system adjusts the maximum allowable bending angle parameter accordingly, enabling deep insertion with flexible tools while preventing tool damage with rigid tools.
2Adaptability or versatility
If the bending angle is limited to allow high-rigidity tools to pass, then tools can be inserted successfully, but the insertion portion cannot reach deep parts of organs with decreasing lumen diameter
Solution Approach 1:
The system dynamically adjusts the bending angle based on the type of tool being inserted. When a high-rigidity tool is detected, the control device limits the bending angle to a predetermined threshold value. When a flexible tool is used, larger bending angles are permitted. This dynamic adaptation resolves the contradiction by making the bending angle flexible rather than fixed.
Solution Approach 2:
The control device changes the parameter of bending angle according to the tool type. By identifying whether the tool is high-rigidity or flexible, the system adjusts the maximum allowable bending angle parameter accordingly, enabling deep insertion with flexible tools while preventing tool damage with rigid tools.
3Adaptability or versatility
If the bending angle is repeatedly adjusted during tool insertion and extraction, then tools can pass through the tool channel, but the time and effort required for manipulation increases
Solution Approach 1:
The control device performs preliminary action by automatically limiting the bending angle to the predetermined threshold value when a high-rigidity tool is detected, preventing insertion failures before they occur. This eliminates the need for repeated bending angle adjustments during the procedure, reducing manipulation time and effort.
Solution Approach 2:
The system uses feedback from tool identification to automatically adjust the bending angle limit. When the system detects a high-rigidity tool, it automatically applies the angle limitation, preventing insertion problems. This closed-loop control eliminates manual trial-and-error adjustments, significantly reducing manipulation time.
Data Source
AI summary
When a plurality of tools that are different are inserted into and extracted from a tool channel after a bending portion of a continuum robot has been inserted to an inside of a test body, a control device acquires, for each of the plurality of tools, a maximum value of bending angle at which the tool is capable of passing through a tool channel, sets a smallest of a plurality of the acquired maximum values of bending angle as a maximum bending angle, and controls a driving unit so that the bending portion bends within a range of the set maximum bending angle.