Flexible Endoscope Control Using Predefined Movement Modes
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Solution Overview
Problem
Minimally invasive medical procedures using endoscopes with multiple bendable portions are challenging due to the difficulty in controlling the endoscope's direction and position, leading to increased operation time and burden on both physicians and patients, as the relationship between the operating direction and observed image is not easily recognizable.
Innovation Solution
A control apparatus with driving-force transmitting mechanisms, drive sources, an operation-amount input unit, and a calculating device that selects movement modes and calculates driving amounts to simplify the operation of bendable endoscopes, allowing for precise control of the endoscope's movement patterns, even when the position cannot be precisely measured or predicted.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the number of bendable portions is increased to enable deep area insertion, then the endoscope can reach deeper areas without contacting tissue, but the position of the insertion portion varies in a complex manner and the difficulty of operation is further increased
Solution Approach 1:
The patent changes the control parameter from direct manipulation of multiple bendable portions to selection of predefined movement patterns. The calculating device computes driving amounts based on selected patterns, transforming the complex control of multiple segments into simple pattern selection, thereby improving operability while maintaining deep insertion capability
Solution Approach 2:
The patent pre-defines multiple movement patterns that represent common inspection trajectories. By preparing these patterns in advance and allowing the operator to simply select from them, the system eliminates the need for complex real-time control decisions, significantly improving ease of operation for deep area inspection
2Ease of operation
If the camera is fixed to the insertion portion, then the surface of the insertion path can be observed without operating the bendable portions, but the bendable portions still need to be operated to change the direction of observation to a desired direction
Solution Approach 1:
The movement patterns are designed to provide multiple functions: they enable both forward movement along the insertion path and directional changes for observing different surfaces. A single set of predefined patterns handles both translation and orientation control, making the system universally applicable for various inspection scenarios without requiring separate control mechanisms
3Loss of information
If the relationship between operating direction and observed image direction is not easily recognizable, then the physician cannot directly observe the position of the insertion portion, but the time required for inspection or surgery is increased and burden on physician and patient is increased
Solution Approach 1:
The predefined movement patterns establish a predictable and consistent relationship between operator input (pattern selection) and endoscope response (movement and orientation). This feedback loop is simplified and standardized, allowing the physician to mentally map control actions to observed outcomes, improving position awareness and reducing inspection time
Data Source
AI summary
The present invention provides a method and an apparatus for controlling a flexible manipulator including a plurality of bendable mechanisms via a control apparatus. The control apparatus includes a drive-mode selecting unit allows for the selection of a movement mode which may provide a bending movement, an angled view movement, or a remote center movement.