Endoscope Force Calculation Using Shape Sensors and Fixed Points
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing endoscope systems face challenges in accurately calculating and balancing forces applied to and received from the enteric canal during insertion, which affects the estimation of the effect on the subject, particularly in varying and movable sections of the colon.
Innovation Solution
An endoscope system with an insertion portion equipped with a position detection device and a processor that calculates force information, including the position, direction, and magnitude of forces applied and received, using fixed points outside the enteric canal to balance resultant forces, thereby estimating the effect on the subject.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force sensors are installed in the insertion portion to directly measure forces, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent replaces direct mechanical force sensing with a computational approach. Shape sensors measure the insertion portion's curvature and position, while a processor calculates forces by analyzing shape changes and applying mechanical models. This substitutes complex mechanical force sensors with simpler shape sensing elements combined with computational analysis, resolving the contradiction between measurement precision and device complexity.
2Measurement precision
If multiple bending sensors are distributed along the insertion portion to improve force detection, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent divides the insertion portion into multiple segments along its length, with shape sensors positioned at different locations. Each sensor measures local curvature, and the processor integrates these segmented measurements to calculate forces at various positions. This segmentation approach improves force detection precision by capturing spatial distribution of forces while keeping individual sensor elements simple.
3Reliability
If fixed points outside the enteric canal are used to balance resultant forces, then reliability of force estimation is improved, but device complexity increases
Solution Approach 1:
The patent introduces fixed points outside the enteric canal as intermediary reference positions. These fixed points serve as mediators in the force balance calculation, allowing the system to account for forces transmitted through the colon's support structures. By using these external reference points, the calculation becomes more reliable as it considers the actual mechanical support conditions, while the computational approach keeps the implementation feasible.
Data Source
AI summary
An endoscope system includes an insertion portion receiving a first force from an enteric canal and applying a second force, which is a reaction, to the enteric canal, a detection device detecting a position of the insertion portion, and a processor. The processor calculates a position of a point of application, a direction, and a magnitude of the first force, performs an arithmetic operation of a shape/position of the insertion portion based on an output from the detection device, determines a reaction position at which the second force is received, based on position information of the insertion portion and on position information of the point of application of the first force, sets two fixed points where the enteric canal is fixed, and calculates information of a third force and a fourth force directed toward the two fixed points from the reaction position with respect to the second force.