Endoscopic Scope Force Model Control
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Solution Overview
Problem
Conventional endoscope control technologies face challenges in accurately and precisely controlling flexible endoscopes, especially during complex movements within the body, due to the fragile and irregularly shaped environment of digestive organs.
Innovation Solution
A method and apparatus that utilize a force model to control endoscopic scopes by modeling the forces required for control, identifying key parameters based on scope shape and movement, and applying these forces to achieve precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional endoscope control methods are used, then the scope can be inserted into the body, but precise control during complex movements becomes difficult due to changing scope characteristics
Solution Approach 1:
The patent implements feedback control by continuously monitoring the actual state of the endoscope (position, orientation, curvature) and comparing it with the desired state. The controller adjusts the actuator commands based on the error between actual and desired states, enabling precise control despite changing scope characteristics during insertion.
Solution Approach 2:
The patent applies dynamic control by adapting the control strategy in real-time based on the scope's changing characteristics. The system updates the control parameters and model predictions continuously during the insertion process, allowing the scope to navigate complex geometries while maintaining precise control.
2Adaptability or versatility
If the scope is manipulated to navigate complex digestive organ shapes, then the scope can reach the target area, but the operator experiences increased difficulty and inconvenience
Solution Approach 1:
The patent enables the endoscope to self-adjust by using its own state information (from sensors) to automatically compensate for navigation difficulties. The scope's actual curvature and position are fed back to the controller, which automatically adjusts actuator commands to maintain the desired trajectory without requiring constant manual intervention.
Solution Approach 2:
The patent applies preliminary action by pre-calculating the required actuator commands based on the desired trajectory and scope characteristics before execution. The controller predicts the scope's response to commands and pre-adjusts the actuator positions to achieve the target configuration more efficiently.
3Manufacturing precision
If force modeling is implemented to control the scope, then control precision improves, but the system complexity increases
Solution Approach 1:
The patent replaces complex mechanical control mechanisms with a computational force model. Instead of using complex mechanical linkages or multiple sensors for direct position control, the system uses a mathematical model that predicts the scope's behavior and computes appropriate actuator commands, simplifying the overall control architecture.
Solution Approach 2:
The patent applies parameter changes by using a force model that predicts scope behavior based on key parameters (position, orientation, curvature). The controller adjusts these parameters dynamically to achieve the desired trajectory, avoiding the need for complex real-time calculations or multiple feedback loops.
Data Source
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AI summary
According to one embodiment of the present disclosure, there is disclosed a method of controlling an endoscopic scope that is performed by a computing device including at least one processor. The method includes modeling the force required to control an endoscopic scope to provide power to the scope; identifying at least one parameter constituting a force model based on data on the shape or movement of the scope; and controlling the scope by providing the force, calculated based on the force model, to the scope.