Automated Endoscope Optical Axis Alignment Controller

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Solution Overview

Problem

Current medical systems face challenges in seamlessly switching between panoramic and magnified views during surgery, requiring manual adjustment of endoscopes to align optical axes, which can be cumbersome and time-consuming, potentially leading to operator fatigue and reduced surgical precision.

Innovation Solution

A medical system comprising a first and second insertable instrument with image sensors, a supporting arm, and a controller that calculates and adjusts the position and orientation of the optical axes to align them, allowing for automated alignment and switching between narrow-angle and wide-angle views.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If manual adjustment of endoscopes is used to align optical axes, then the system can switch between panoramic and magnified views, but the operation becomes cumbersome and time-consuming

Engineering Contradiction:

Improveview switching capabilityVSAvoidmanual alignment operation

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The system automatically aligns the optical axes of the first and second endoscopes by calculating the operation amount based on detected positions and orientations, eliminating the need for manual adjustment by the operator. The controller autonomously controls the arm to move the first endoscope so that its optical axis coincides with the second endoscope's optical axis.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent replaces manual mechanical adjustment with an automated control system that uses detectors to acquire position and orientation data, calculates the required operation amount, and controls the arm to execute the alignment automatically, substituting human operation with an automated control loop.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Adaptability or versatility

If manual adjustment of endoscopes is used to align optical axes, then view switching is possible, but operator fatigue increases and surgical precision decreases

Engineering Contradiction:

Improveview switching capabilityVSAvoidsurgical precision

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The system performs self-alignment by automatically calculating and executing the positioning of the first endoscope's optical axis to coincide with the second endoscope's optical axis, eliminating human error and fatigue that would otherwise affect alignment precision and surgical accuracy.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The system uses detectors to continuously acquire the positions and orientations of both endoscopes, calculates the operation amount needed for alignment, and controls the arm to execute the adjustment, creating a closed-loop feedback system that ensures precise optical axis alignment.

Inventive Principle:

Principle #23Feedback

3Ease of operation

If automated alignment is implemented, then operator burden is reduced, but device complexity increases

Engineering Contradiction:

Improvealignment operationVSAvoidcontrol system complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The controller serves multiple functions: it acquires position and orientation data from detectors, calculates the operation amount for alignment, and controls the arm to execute the positioning. This multi-functional integration reduces the need for separate dedicated components for each function.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The controller acts as an intermediary between the detectors that acquire position and orientation data and the arm that executes the alignment, coordinating the information flow and control actions to achieve automated optical axis alignment without requiring direct complex interactions between detectors and actuators.

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS10638915B2System for moving first insertable instrument and second insertable instrument, controller, and computer-readable storage device

Publication Date: 2020.05.05 OLYMPUS CORPORATION(JP)

AI summary

A medical system having a first insertable instrument having a first image sensor; a second insertable instrument having a second image sensor; a first arm configured to move the first insertable instrument; and a controller configured to: acquire a position and orientation of the second insertable instrument in a predetermined coordinate system; calculate a position and direction of an optical axis of the second image sensor based on the position and orientation of the second insertable instrument; acquire a position and orientation of the first insertable instrument in the predetermined coordinate system; calculate a first operation amount of the first arm to move the first image sensor such that the optical axis of the second image sensor substantially coincides with an optical axis of the first image sensor, based on the position and orientation of the first insertable instrument; and control the first arm based on the first operation amount.