Continuum Robot Detachable Support Base for Medical Insertion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The operability of continuum robots, particularly in medical applications, is hindered by the difficulty of manually inserting a bendable medical instrument into a patient's lumen when attached to an insertion unit, requiring manual detachment and reattachment, which complicates the insertion process.
Innovation Solution
A continuum robot system with a detachable and movable support base and arm mechanism that allows the robot to transition between manual and robotic insertion methods, maintaining the orientation of the support base and medical apparatus constant, enabling flexible and efficient insertion and extraction of medical instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the bendable medical instrument is manually inserted while held by the user's hand, then the insertion operation is simple, but the instrument cannot remain attached to the insertion unit
Solution Approach 1:
The system is divided into distinct functional modules: the insertion unit with moving stage for robotic control, and the arm mechanism for manual positioning. This segmentation allows the instrument to be held by the arm during manual insertion while maintaining the option for robotic assistance, eliminating the need to detach and reattach the instrument between manual and robotic operations.
Solution Approach 2:
The insertion unit is designed to accommodate both manual and robotic insertion methods. The moving stage can support the instrument during manual insertion by the user, and then transition to robotic control without requiring detachment. This multi-functionality resolves the contradiction by allowing the same system to perform both manual and automated operations seamlessly.
2Measurement precision
If the bendable medical instrument is inserted while attached to the insertion unit using robotic control, then precision is improved, but manual insertion becomes difficult
Solution Approach 1:
The system dynamically switches between manual and robotic control modes. The arm mechanism allows manual positioning and insertion, while the moving stage enables robotic control. The transition between modes is seamless, with the instrument remaining attached to the insertion unit throughout, allowing the operator to choose the most appropriate method for each specific insertion scenario.
3Stability of the object's composition
If the support base is made larger and more stable, then the continuum robot is more stable, but the support base becomes harder to handle and maneuver
Solution Approach 1:
The support system is segmented into the arm mechanism for manual maneuvering and the moving stage for stable support during operation. The arm can be easily moved and repositioned by the user, while the moving stage provides stable support when the instrument is attached for robotic insertion, resolving the contradiction between stability and maneuverability.
Data Source
AI summary
The present invention is a continuum robot system including a continuum robot including a bendable body and a base portion at which the bendable body is provided; a support base including a moving stage that supports the continuum robot such that the continuum robot is detachable from and attachable to the moving stage and is movable along a straight line; and an arm that supports the support base and that is turnable about a first shaft. The continuum robot moves along a plane perpendicular to the first shaft when the moving stage with the continuum robot mounted on the moving stage is moved.