Endoscope Insertion Assistance System Path Planning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing endoscope insertion techniques lack efficient guidance for navigating through complex internal structures, particularly in industrial and medical applications, where the endoscope must avoid damage to narrow organs and navigate through tight spaces, leading to inefficiencies and reliance on skilled operators.
Innovation Solution
An insertion assistance system that uses a processor to calculate optimal paths for the endoscope's distal end based on 3D shape information of the subject, considering branch portions and the specifications of the endoscope, to guide the endoscope to a target position while adjusting its state for optimal observation, including bending and twisting operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual insertion operation is used, then operator flexibility is maintained, but insertion accuracy and reliability deteriorate due to reliance on operator skill
Solution Approach 1:
The system enables the insertion unit to navigate autonomously by calculating optimal paths and generating operation guidance information itself, without requiring high operator skill levels. The processor automatically determines paths based on 3D shape data and insertion specifications, making the system self-sufficient in navigation decisions.
Solution Approach 2:
The system provides real-time feedback to the operator through operation guidance information that indicates the current state and required adjustments. This feedback loop enables operators to make precise corrections based on system recommendations, improving insertion reliability while maintaining ease of operation.
2Productivity
If complex path navigation is performed manually, then operator control is maintained, but work efficiency deteriorates due to time-consuming insertion procedures
Solution Approach 1:
The system performs preliminary path planning and operation guidance generation before the actual insertion begins. The processor calculates optimal paths and prepares step-by-step guidance information in advance, allowing operators to execute insertions more quickly and efficiently without time-consuming on-the-fly calculations.
Solution Approach 2:
The system replaces manual mechanical path planning with automated computational path calculation. The processor uses 3D shape data and mathematical algorithms to determine optimal paths, substituting the operator's mechanical decision-making process with automated computational methods that are faster and more consistent.
3Adaptability or versatility
If the endoscope passes through narrow spaces and tight bends, then access to inspection areas is achieved, but the risk of damaging narrow organs increases
Solution Approach 1:
The system changes the path parameters dynamically based on the 3D shape data and insertion unit specifications. The processor calculates optimal path parameters including curvature radius, bending angles, and progression speed to navigate narrow spaces while maintaining safe clearance from delicate structures, thus reducing damage risk while preserving access capability.
Solution Approach 2:
The system introduces an intermediary layer of computational path planning between the operator's insertion commands and the actual physical movement of the endoscope. This intermediary path calculation layer acts as a mediator that translates high-level insertion goals into safe, damage-free trajectories by considering the 3D anatomical structure.
4Manufacturing precision
If multiple path candidates are generated, then path optimization is improved, but computational complexity increases
Solution Approach 1:
The system segments the complex path planning problem into multiple independent path candidates, each representing a potential insertion route. The processor generates multiple discrete path options and then selects the optimal one based on predefined criteria, breaking down the complex optimization problem into manageable segments that are easier to compute and evaluate.
Data Source
AI summary
An insertion assistance system includes a processor. The processor is configured to set a first position and a second position in shape information. The processor is configured to estimate a first state of a distal end of an insertion unit at the first position. The processor is configured to calculate a path through which the distal end passes. The processor is configured to determine a second state of the distal end at the second position. The processor is configured to output, to an information-reporting device, insertion assistance information required for an insertion operation for causing the distal end to reach the first position from the second position through the path and causing a state of the distal end to change from the second state to the first state.