Endoscope Buckling Detection via Sensor Feedback
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Solution Overview
Problem
During minimally invasive surgical procedures, endoscopes often buckle when inserted into anatomical lumens, leading to potential damage and uncontrollable energy release due to excessive insertion force, as existing robotic systems lack effective mechanisms to detect and adapt to buckling.
Innovation Solution
The implementation of sensors along the endoscope to detect buckling by comparing measured and expected sensor data, allowing for adaptive insertion force thresholds and real-time feedback to prevent further damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If insertion force is increased to advance the endoscope deeper into the patient lumen, then the target location is reached, but the endoscope may buckle and store potential energy that could be released uncontrollably or cause damage
Solution Approach 1:
The system uses sensors to detect buckling conditions and provides real-time feedback to the control system. When buckling is detected, the system adjusts or stops insertion force to prevent uncontrollable energy release or damage, while still allowing progression to the target location when safe
Solution Approach 2:
The system dynamically adjusts insertion force parameters based on real-time sensor data. The control system modifies the force applied to the endoscope based on detected buckling conditions, anatomical contacts, and progression status to balance depth advancement with safety
2Ease of operation
If the endoscope brushes against fragile internal anatomy during insertion, then navigation through the lumen is achieved, but tearing or damage to the anatomy may occur
Solution Approach 1:
Sensors detect forces and movements during insertion and provide feedback to identify when the endoscope contacts fragile anatomy. The system uses this information to adjust insertion force in real-time, preventing excessive force that could cause tearing or damage while maintaining navigation capability
Solution Approach 2:
The system dynamically adjusts insertion force based on real-time detection of anatomical contacts and buckling conditions. The control system continuously adapts the force applied during navigation to balance progression with protection of fragile structures
3Reliability
If sensors are added to detect buckling and provide real-time feedback, then insertion force control and safety are improved, but device complexity increases
Solution Approach 1:
The sensor system is designed to perform multiple functions: detecting buckling conditions, measuring forces during insertion, monitoring anatomical contacts, and providing navigation feedback. This multi-functionality reduces the need for separate specialized sensors and systems
Data Source
AI summary
A robotic system is described for determining whether a flexible instrument has buckled. The robotic system comprises a medical instrument comprising an elongate body, and further comprises a first sensor placed in a first portion of the elongate body, and a controller. A command is directed to the elongate body. The first sensor generates sensor data providing information regarding a first measured status of the portion of the elongate body. The controller receives sensor data generated from the first sensor, and compare the first measured status with a first expected status expected to be caused by the command; and responsive to the first measured status deviating from the first expected status one of more or less than a first associated threshold, determine that the elongate body has buckled.