Endoscopic Instrument Hybrid Actuation with Mechanical Feedback
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Solution Overview
Problem
Endoscopic instruments lack intuitive mechanical feedback during electrical actuation and are difficult to operate in case of electrical control failure, requiring significant force and resulting in approximate deflection control due to spring/damper systems.
Innovation Solution
An endoscopic instrument with an intermediate element connected to the control and adjustment elements for force transmission, a detection device for torsion detection, and an abutment device for free rotational movement, allowing motor-assisted or manual operation with mechanical feedback and overload protection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If electrical actuation is used to deflect the distal portion, then automation and ease of operation are improved, but mechanical feedback and intuitive control are lost
Solution Approach 1:
The patent merges electrical actuation (motor-driven pull element) with mechanical feedback (control element coupled to adjustment element) into a hybrid system. The control element remains mechanically connected to the adjustment element via the pull element, allowing the user to feel mechanical feedback while the motor provides automated actuation assistance.
Solution Approach 2:
The control element acts as an intermediary between the user and the adjustment element. It transmits both mechanical force from the user and automated force from the motor to the adjustment element, enabling both manual control and automated assistance while maintaining mechanical feedback pathways.
2Ease of operation
If purely mechanical actuation is used to deflect the distal portion, then mechanical feedback and intuitive control are maintained, but significant force is required and precision is reduced due to spring/damper systems
Solution Approach 1:
The motor acts as a counterweight to the significant force required for mechanical actuation. It provides automated actuation assistance that opposes and reduces the manual force burden on the user, while the mechanical feedback pathway remains intact through the control element and pull element coupling.
3Extent of automation
If electrical endoscopes are used with track ball or joystick control, then automation is improved, but mechanical feedback and ease of withdrawal in case of defect are worsened
Solution Approach 1:
The system dynamically switches between purely manual operation and motor-assisted operation. The control element maintains a mechanical coupling pathway that allows operation without electrical power, enabling the system to adapt to defects or failures in the electrical actuation system while maintaining automated capabilities when functional.
4Device complexity
If the control element is fixedly arranged on the handle shaft, then mechanical simplicity is maintained, but precision and control range are limited
Solution Approach 1:
The control element is segmented into a rotatable portion and a handle portion. The rotatable portion can rotate relative to the handle shaft within a controlled range, allowing enhanced precision and control range while maintaining the overall mechanical simplicity of the fixed mounting structure.
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
Enables precise and intuitive control with mechanical feedback, ensuring safe operation even in case of electrical failure by combining motor assistance with user-applied force, preventing damage and maintaining precise deflection control.
Implementation Method 1
a force applied to the control element by a user can be transmitted to the adjustment element via the intermediate element
Implementation Method 2
a detection device for detecting a torsion of the intermediate element
Implementation Method 3
an actuator, which is coupled to the adjustment element, such that an actuation of the actuator can cause a movement of the adjustment element
Implementation Method 4
a pull element, which is mechanically coupled to the adjustment element and to the portion of the instrument shaft, such that a movement of the adjustment element can cause an actuation of the portion by a transmission of force via the pull element
Data Source
AI summary
Endoscopic instrument with a control element, an instrument shaft, an adjustment element, a pull element, an actuator, an intermediate element which is operatively connected to the control element and to the adjustment element such that a force applied to the control element by the user can be transmitted to the adjustment element via the intermediate element in order to move the adjustment element, a detection device for detecting a torsion of the intermediate element, and an abutment device, which defines a free rotatory movement range of the control element relative to the adjustment element.