Automated Endoscope Positioning for ERCP Papillary Alignment
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Solution Overview
Problem
The ERCP procedure faces challenges in accurately positioning the endoscope due to individual differences in the papillary portions and luminal tissues, making it difficult to precisely insert the cannula into the biliary duct.
Innovation Solution
An electric medical system is employed, featuring an endoscope with electrically driven forward and backward movement, curving, and rolling rotation, along with a control device that automates the positioning of the endoscope based on images, using an overtube and balloon to stabilize the insertion section and adjust the position of the distal end section relative to the papillary portion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual positioning method is used, then operator flexibility is maintained, but positioning precision deteriorates due to individual differences in papillary portions
Solution Approach 1:
The patent replaces manual mechanical positioning operations with an automated image processing system. The control device automatically determines the position of the papillary portion by processing endoscope images, eliminating the need for manual visual estimation and mechanical adjustment by the operator, thereby improving positioning precision while accounting for individual anatomical variations.
Solution Approach 2:
The system creates a digital representation (image) of the papillary portion and processes this copy to determine positioning information. By working with image data rather than direct mechanical manipulation, the system can accurately identify anatomical features and calculate optimal positioning without being affected by individual differences in papillary portion morphology.
2Measurement precision
If automated control based on images is implemented, then positioning accuracy improves, but ease of operation deteriorates due to reduced manual control
Solution Approach 1:
The system performs self-positioning by automatically processing endoscope images and determining the optimal position of the insertion section relative to the papillary portion. The control device autonomously calculates positioning information without requiring continuous manual intervention, allowing the system to serve itself in the positioning task while maintaining high accuracy.
Solution Approach 2:
The system uses real-time feedback from endoscope images to continuously monitor and adjust positioning. The control device processes images to determine papillary portion position and uses this feedback information to guide the automated positioning process, ensuring accuracy while reducing the need for manual control adjustments.
3Measurement precision
If first positioning is performed before second positioning, then overall positioning precision improves, but loss of time increases due to multiple positioning steps
Solution Approach 1:
The system performs preliminary positioning (first positioning) to roughly position the insertion section relative to the papillary portion before performing the final precise positioning (second positioning). This preliminary action establishes a baseline position that facilitates the subsequent fine-tuning step, improving overall precision by breaking down the positioning task into manageable stages.
Solution Approach 2:
The positioning process is segmented into two distinct steps: first positioning for rough alignment and second positioning for precise positioning. This segmentation allows each step to focus on specific positioning requirements, with the first step establishing general orientation and the second step achieving accurate alignment, thereby improving overall positioning precision through divided tasks.
Data Source
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AI summary
The medical system (10) includes an endoscope (100) and a control device (600). The endoscopic operation of the endoscope is electrically driven, and an endoscope image is captured. The endoscopic operation is at least one of forward and backward movement of an insertion section, a curving angle of a curving section of the insertion section, and rolling rotation of the insertion section. The control device controls the electrically-driven endoscopic operation. After the first positioning for positioning the insertion section with respect to the papillary portion of the duodenum is performed, the control device controls the electrically-driven endoscopic operation based on the endoscope image, thereby performing second positioning for positioning the distal end section of the insertion section with respect to the papillary portion.