Endoscope Bendable Section Control for Stable Field of View
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Solution Overview
Problem
In medical systems, when switching control states of a bendable section in an endoscope, there is a risk of drastic changes in the field of view, leading to loss of sight of the affected area or discomfort due to abrupt changes in image orientation.
Innovation Solution
A control method that calculates the angle difference between the current and final target angles of the bendable section, adding a minute angle if the difference exceeds a threshold to prevent sudden changes, allowing gradual transitions between control states, thereby maintaining a stable field of view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the bendable section is controlled to quickly follow the end position of the treatment tool, then the response speed is improved, but the field of view changes drastically causing loss of sight of the affected area
Solution Approach 1:
The patent implements dynamic control by switching between two control states: a first state for large-angle movements where the bendable section does not follow the treatment tool to maintain field of view stability, and a second state for small-angle movements where the bendable section quickly follows the treatment tool end position. This dynamic switching allows the system to adapt its response characteristics based on the operational context, resolving the contradiction between response speed and field of view stability.
Solution Approach 2:
The control system changes the control parameters (control state) based on the magnitude of angle difference between current and target positions. When the angle difference exceeds a threshold, the system transitions to a different control mode that prevents drastic field of view changes. This parameter-based control strategy enables the system to optimize both response speed and stability under different conditions.
2Measurement precision
If the bendable section is bent by a large amount to follow the treatment tool quickly, then the tracking accuracy is improved, but the image orientation changes abruptly causing operator discomfort
Solution Approach 1:
The system dynamically adjusts its tracking behavior by implementing two distinct control states. In the first control state, when the angle difference is large, the bendable section maintains a fixed angle to prevent abrupt image orientation changes. In the second control state, when the angle difference is within a threshold, the bendable section actively tracks the treatment tool position for accurate following. This dynamic adaptation eliminates operator discomfort while preserving tracking accuracy where applicable.
Solution Approach 2:
The control device acts as an intermediary between the treatment tool position and the bendable section actuator. It mediates the control signal by determining whether to transmit full tracking commands or restricted commands based on the current control state and angle difference, thereby preventing harmful abrupt changes while maintaining necessary tracking functionality.
Data Source
AI summary
A medical-system control method including a switching-instruction step in which an instruction for switching between two different control states of the bendable section provided at a distal end of the insertion section is received; an angle-difference calculation step in which the difference between the current angle of the bendable section at the time when the instruction is received and the final target angle of the bendable section in the control state after being switched is calculated; a target calculation step in which, when the calculated difference exceeds a predetermined threshold, a minute angle, smaller than the threshold, is added to the current angle to calculate the target angle, and, when the difference is less than or equal to the threshold, the difference is added to the current angle to calculate the target angle; and a driving step in which the bendable section is driven to the calculated target angle.