Endoscope Master-Slave Force Feedback Control
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Solution Overview
Problem
Existing endoscope apparatuses cause organ twisting and operator fatigue due to lack of feedback on reaction forces during insertion, and existing solutions do not effectively address these issues.
Innovation Solution
An endoscope apparatus with a slave device equipped with drive motors and load sensors to adjust insertion and direction, and a master device with displacement sensors and resistive motors to generate signals based on detected loads, providing feedback to the operator through resistive forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the insertion tube simultaneously advances and rotates inside an organ, then the insertion speed is improved, but the organ may be twisted causing damage
Solution Approach 1:
A load sensor is integrated into the drive mechanism to detect reaction forces during insertion. When the sensor detects excessive resistance indicating potential organ contact or twisting, the system automatically adjusts or stops the rotation and advancement of the insertion tube, preventing damage while maintaining efficient insertion when conditions are safe
2Device complexity
If a knob structure is used in the endoscope, then the device complexity is reduced, but the operator fatigue is not effectively solved
Solution Approach 1:
The manual knob structure is replaced with an automated drive mechanism controlled by a controller that receives signals from a foot switch. The drive mechanism automatically performs the insertion and rotation actions that would otherwise require manual manipulation, eliminating operator fatigue while maintaining simple overall device architecture
3Device complexity
If one controller controls both endoscope operations and auxiliary devices, then the device complexity is reduced, but the operator cannot recognize reaction forces during insertion
Solution Approach 1:
A load sensor is integrated into the drive mechanism to detect reaction forces during insertion. The sensor provides real-time feedback to the operator through force feedback on the control interface, enabling the operator to sense organ contact and resistance forces while the integrated controller manages both endoscope and auxiliary device operations
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The apparatus reduces operator fatigue and allows for recognition of reaction forces, minimizing organ damage by simulating real insertion conditions and providing uniform operation time and speed.
Implementation Method 1
a plurality of load sensors provided on the plurality of drive motors
Implementation Method 2
resistive motors configured to operate based on loads detected by the load sensors. The drive motors produce drive forces according to the signals generated by the displacement sensors and the resistive motors produce resistive forces
Data Source
AI summary
An endoscope apparatus is provided. An endoscope apparatus includes a slave device including a plurality of drive motors configured to adjust insertion and insertion direction of an insertion tube of an endoscope, and a plurality of load sensors provided on the plurality of drive motors; and a master device including displacement sensors configured to generate signals for driving the drive motors according to an operator manipulation, and resistive motors configured to operate based on loads detected by the load sensors. The drive motors produce drive forces according to the signals generated by the displacement sensors and the resistive motors produce resistive forces corresponding to the operator manipulation based on the loads detected by the load sensors.