Endoscope Maneuvering System with Gimbal Joystick Control
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Solution Overview
Problem
Current endoscope maneuvering systems in laparoscopic surgery lack the ability to provide full control over the endoscope's spatial position and orientation, limiting the surgeon's dexterity and requiring additional space, which can lead to longer setup times and reduced access to desired areas within the surgical site.
Innovation Solution
A system comprising a maneuvering unit and a wearable joystick unit that allows for proportional movement of the endoscope in multiple degrees of freedom, including a gimbal mechanism for independent rotation around insertion points, enabling precise control and orientation of the endoscope without the need for additional assistants or large robotic systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robotic automated assistant is used to hold the endoscope, then the endoscope can be held steadily and positioned accurately, but the system becomes expensive, complex, and requires a large region to be kept free for movement
Solution Approach 1:
The robotic system is segmented into a compact base unit with motors and electronics, and a separate endoscope holder mechanism. This segmentation allows the control system to be miniaturized and integrated close to the surgical site, reducing the overall system footprint and complexity while maintaining stable endoscope positioning through independent motor control of each degree of freedom.
Solution Approach 2:
The system transitions from conventional 2D monitor viewing to providing spatial orientation control in three dimensions, including rotation around the longitudinal axis. This dimensional enhancement allows the endoscope to be positioned and oriented from any angle, giving the surgeon a true three-dimensional perspective of the surgical field without requiring complex robotic arms with multiple axes.
2Volume of moving object
If a compact camera-holder robot is used, then the physical dimensions are reduced, but the base ring occupies space on the patient's body and limits surgeon's activities
Solution Approach 1:
The system separates the base ring attachment mechanism from the endoscope holder, allowing the holder to be positioned away from the patient's body. This segmentation enables the compact base to remain stationary on the patient while the endoscope manipulator operates freely in the surgical field, eliminating obstruction to surgeon movement and instrument placement.
Solution Approach 2:
A flexible or articulated connection mechanism serves as an intermediary between the stationary base ring and the mobile endoscope holder. This intermediary allows the endoscope to be positioned optimally for each surgical view while keeping the base attachment minimal and out of the way, preventing interference with surgeon activities and other surgical instruments.
3Device complexity
If conventional manual maneuvering by an assistant is used, then no additional equipment is required, but it is difficult to keep the endoscope in the right spatial position and maintain stable image orientation
Solution Approach 1:
The system provides self-service through automated motor control that responds to surgeon input via control device. The motors automatically adjust the endoscope position and orientation based on commanded movements, eliminating the need for manual manipulation by an assistant while maintaining simple overall system architecture. The automated control ensures consistent, stable positioning without human fatigue or variability.
Solution Approach 2:
Manual mechanical manipulation by an assistant is replaced with an automated motorized system that provides precise, controlled movement of the endoscope. The motorized actuators substitute for human hands, providing stable and repeatable positioning while reducing the complexity of training and coordination required between surgeon and assistant.
4Adaptability or versatility
If a robotic system with multiple arms is used, then full control of endoscope position and orientation is achieved, but the system requires a large region to be kept free for movement and has setup time of 40 minutes
Solution Approach 1:
The robotic system is divided into independent modular components, each responsible for a specific degree of freedom. This segmentation allows for rapid assembly and configuration during surgery, as each module can be independently positioned and connected. The modular design reduces setup time from 40 minutes to a fraction of that time while maintaining full six-degree-of-freedom control capability.
Solution Approach 2:
The system achieves full spatial control through a compact configuration that utilizes rotational joints and articulation mechanisms, eliminating the need for multiple large robotic arms. By implementing rotation around the longitudinal axis and multi-axis positioning in a compact form factor, the system provides complete orientational freedom without requiring a large clearance zone, enabling surgery in confined spaces with minimal setup time.
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
This solution enhances the surgeon's ability to maneuver the endoscope with greater precision and flexibility, reducing setup time and improving access to all areas within the surgical site, while minimizing the physical footprint and maintaining control during power failures.
Implementation Method 1
A system comprising a maneuvering unit and a wearable joystick unit that allows for proportional movement of the endoscope in multiple degrees of freedom, including a gimbal mechanism for independent rotation around insertion points
Data Source
Figure 1a
Figure 1b
Figure 2a~2d
AI summary
The present invention provides a system for maneuvering an endoscope (SFME) during a medical procedure, comprising a. at least one maneuvering system, adapted to maneuver said endoscope in at least two degrees of freedom (DOF); and, b. at least one joystick unit in communication with said maneuvering system, adapted to operate said maneuvering system; wherein operation of said joystick results in movement of said endoscope by means of said maneuvering system.