Multi-Joint Endoscope Arm With Parallelogram Linkage
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Solution Overview
Problem
Conventional endoscope holding apparatuses require multiple joints and complex mechanisms, leading to interference and reduced efficiency in providing necessary motions for endoscope positioning during surgical operations, which increases the burden on scopists and may obstruct the surgeon's view.
Innovation Solution
A multi-joint endoscope holding apparatus with a distal arm comprising first to fourth arm portions connected via horizontal and vertical rotational shafts, utilizing interlocking mechanisms such as parallelogram links to enable parallel movements of specific arm portions, allowing for efficient advancement, tilting, and turning of the endoscope with minimal joint interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If multiple joints and complex mechanisms are used in conventional endoscope holding apparatuses, then the endoscope can be positioned, but interference between arm portions increases and operational efficiency decreases
Solution Approach 1:
The distal arm is divided into multiple arm portions (first, second, third, and fourth arm portions) that are sequentially connected. This segmentation allows each portion to perform specific functions independently while working together as a coordinated system, reducing interference between components and improving operational efficiency.
Solution Approach 2:
The patent combines multiple arm portions into a single integrated distal arm structure that provides both advancing/retracting motions and turning/tilting motions. By merging these functions into one coordinated mechanism rather than separate systems, the apparatus reduces the number of joints needed while maintaining full positioning capability.
2Reliability
If multiple joints are used to provide advancing, turning, and tilting motions, then the endoscope can be positioned accurately, but arm portions may interfere with each other and become locked
Solution Approach 1:
The distal arm employs dynamic motion coordination where the multiple arm portions move in a coordinated sequence. The first and third arm portions provide advancing/retracting motions while the second and fourth arm portions provide turning/tilting motions, with their movements dynamically coordinated to prevent interference and locking between components.
Solution Approach 2:
The patent separates the motion functions into different spatial dimensions and sequences. By coordinating movements across multiple arm portions in a specific sequence and spatial arrangement, the design eliminates interference between components while achieving accurate three-dimensional positioning of the endoscope.
3Stability of the object's composition
If a smallest number of joints is used, then interference is prevented and stability is improved, but the range of motion may be limited
Solution Approach 1:
Each arm portion in the distal arm is designed to perform multiple functions. The coordinated movement of the four arm portions enables the system to provide advancing/retracting motions, turning motions, and tilting motions simultaneously, achieving full positioning capability with minimal joints and maintaining structural stability.
Data Source
AI summary
A distal arm that holds a rigid endoscope includes a multi-joint articulated arm including first to fourth distal arm portions sequentially connected from a base portion side, and these first to fourth distal arm portions are configured so as to move on a vertical plane with horizontal rotational shafts as supports. In addition, behaviors of the respective distal arm portions are linked by a linking mechanism so that the first distal arm portion and the third distal arm portion behave in parallel to each other, and the second distal arm portion and the fourth distal arm portion behave in parallel to each other.