Endoscope Rotational Angle Calculation for Manipulator Coordinate Alignment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing endoscopic treatment systems face challenges in accurately aligning the coordinate systems of an endoscope and manipulators within an overtube, leading to difficulties in intuitive operation and precise positioning during medical procedures.
Innovation Solution
A manipulator system that includes an endoscope-rotational-angle calculation unit to determine the shifted angle of the endoscope relative to the overtube's longitudinal axis, allowing the movable sections to be rotated and aligned with the endoscope's coordinate system, thereby matching the up/down directions and facilitating intuitive operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the endoscope and manipulator are independently controlled without coordinate system alignment, then the system structure remains simple, but the operational intuitiveness and positioning accuracy deteriorate
Solution Approach 1:
The patent replaces complex mechanical alignment mechanisms with computational methods. The endoscope-rotational-angle calculation unit calculates the shifted angle based on image processing, and the control unit automatically rotates the manipulator to align coordinate systems, substituting mechanical alignment with software-based calculation and control.
Solution Approach 2:
The system dynamically adjusts the rotational angle parameter of the manipulator based on the calculated shifted angle. By changing the rotational parameter according to the endoscope's position, the system achieves coordinate system alignment without physical mechanical adjustments.
2Measurement precision
If sensors are added to the endoscope to detect position and orientation, then positioning accuracy improves, but device complexity and cost increase
Solution Approach 1:
Instead of adding sensors to the endoscope, the system creates a virtual copy of the endoscope's position and orientation information through image processing. The endoscope-rotational-angle calculation unit extracts positional data from the endoscopic images, creating a computational representation that replaces physical sensing.
Solution Approach 2:
The patent introduces an intermediary computational process between the endoscope and manipulator control. The image processing and angle calculation units act as intermediaries that translate visual information into control parameters, eliminating the need for direct sensor integration on the endoscope.
3Manufacturing precision
If the manipulator is rotated to align coordinate systems, then operational accuracy improves, but the time required for setup and adjustment increases
Solution Approach 1:
The system performs preliminary calculation of the shifted angle using image processing before the actual manipulator rotation. By pre-calculating the required rotational adjustment based on endoscope position, the system prepares alignment parameters in advance, reducing actual adjustment time during procedures.
Solution Approach 2:
The control unit continuously monitors the endoscope position through image processing and provides real-time feedback for manipulator rotation. This closed-loop feedback system automatically adjusts the manipulator orientation based on detected position changes, achieving rapid and accurate alignment without manual intervention.
Data Source
AI summary
Provided is a manipulator system including: a manipulator provided with an insertion section, a movable section disposed at a distal end of the insertion section, and a drive unit that is disposed at a proximal end of the insertion section and that drives the movable section; an operation input unit with which an operation input to the manipulator is input; a control unit for controlling the drive unit based on the operation input; an endoscope; an overtube having a first channel and a second channel; and a unit for calculating a shifted angle of the endoscope relative to the first channel about a longitudinal axis, wherein, on the basis of the shifted angle, the movable section is rotated relative to the second channel to match the up/down direction of a coordinate system fixed to the endoscope and the up/down direction of a coordinate system fixed to the movable section.