Endoscope Holder Automatic Positioning Control
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Solution Overview
Problem
Conventional endoscope systems face challenges in positioning the endoscope optimally during laparoscopic surgery, particularly when repeatedly moving between close-up and overlooking viewing fields, due to operator skill variability and cumbersome operation tasks.
Innovation Solution
An endoscope system with a holder that supports the endoscope main unit, featuring multiple joint portions with adjustable rotating angles, a recording mechanism to store these angles, and a control system to automatically reproduce the angles in reverse order, allowing for reproducible positioning and reduced operator effort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the endoscope is manually operated to repeatedly move between close-up and overlooking viewing fields, then the operator can obtain desired viewing fields, but the positioning accuracy varies depending on operator skill level and the operation becomes cumbersome
Solution Approach 1:
The system records the holder angle information during manual operation and creates a copy of the movement trajectory. This recorded trajectory is then reproduced automatically, eliminating the need for repeated manual positioning while maintaining consistent accuracy. The holder-angle recording portion stores the angular positions, and the control portion reproduces these recorded positions automatically.
Solution Approach 2:
The system performs preliminary recording of the holder angle information during the first manual operation. This pre-recorded trajectory serves as a template for subsequent automatic restorations, allowing the endoscope to return to the exact same viewing positions without requiring repeated manual adjustment.
2Reliability
If the operator repeatedly manually positions the endoscope between different viewing fields, then the desired observation can be achieved, but the operator workload increases and consistency decreases
Solution Approach 1:
The system enables self-service operation by automatically restoring the endoscope to previously recorded positions. The control portion uses the recorded holder angle information to autonomously reposition the endoscope without requiring continuous manual intervention, thereby improving both consistency and operator efficiency.
Solution Approach 2:
The system incorporates feedback through the holder-angle recording portion that continuously monitors and records the angular positions of the holder joints. This recorded information is fed back to the control portion, which uses it to accurately reproduce the same positions, ensuring consistent and reliable positioning.
3Adaptability or versatility
If a holder with multiple joint portions is used to support the endoscope, then the positioning flexibility is improved, but the device complexity increases
Solution Approach 1:
The holder with multiple joint portions serves multiple functions: it provides flexible positioning capability through adjustable angles, and simultaneously enables automatic restoration by recording these angles. The same structural components that provide positioning flexibility also generate the data needed for automatic reproduction, eliminating the need for separate simplifying mechanisms.
Data Source
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AI summary
Provided is an endoscope system (100) provided with an endoscope main unit (1) including a shaft (10), an operating portion (20), and an image-acquisition unit (15); an arm (41) that supports the endoscope main unit (1) and that can change the attitude and the position of the endoscope main unit (1) by using a plurality of joint portions whose rotating angles can be changed about respective predetermined rotation shafts; a memory that records angle information of the respective joint portions; a CPU; and a mode-switching switch (23) that switches between a recording operating mode in which an operator (D) holds the operating portion (20) and the changes the attitude and the position of the endoscope main unit (1) and an automatic operating mode in which the attitude and the position of the endoscope main unit (1) are changed by the CPU, wherein, in the case in which operating mode is switched to the automatic operating mode from the recording operating mode, the CPU reproduces changes in the rotating angles of the respective joint portions in time-series in reverse order based on the angle information recorded in the memory in the recording operating mode, thus returning the attitude and the position of the endoscope main unit (1) to the initial state of the recording operating mode.