Endoscope Positioning via Robot Arm Remote Center
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Solution Overview
Problem
Conventional endoscope positioning methods are time-consuming and prone to errors due to surface irregularities, and they increase the risk of infection by direct contact with the body cavity.
Innovation Solution
A method utilizing a robot arm with a spherical remote center of motion and an auxiliary positioning device with a fastener and docking member, allowing precise alignment and insertion of the endoscope through a catheter without direct contact, reducing the need for additional tools that could cause infection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two abreast image-projecting devices are used to project images on the targeted body cavity, then the point of incision can be positioned, but the positioning process becomes time-consuming
Solution Approach 1:
The patent extracts the essential positioning function from complex image-projection systems and implements it through a simple mechanical alignment mechanism. The auxiliary positioning device with its receiving hole and alignment marks provides direct visual alignment without requiring time-consuming image projection and matching processes.
Solution Approach 2:
The patent replaces the optical image-projection system with a mechanical alignment system. The auxiliary positioning device uses physical alignment marks and a receiving hole structure that guides the endoscope into correct position through direct mechanical alignment, eliminating the need for complex optical projection and image matching.
2Measurement precision
If a scale is used to determine the relative position between the virtual center of the robot arm and the point of incision, then positioning can be achieved, but the scale contacts the body cavity surface increasing infection risk
Solution Approach 1:
The patent removes the scale entirely from the positioning process. Instead of using a scale that must contact the body surface, the invention uses alignment marks on the auxiliary positioning device that are viewed optically, eliminating the source of infection risk while maintaining positioning accuracy.
Solution Approach 2:
The auxiliary positioning device acts as an intermediary between the robot arm and the body cavity. It provides alignment references that can be observed without contact, and its receiving hole guides the endoscope position, thereby mediating the positioning process without requiring direct contact between measurement tools and the body surface.
3Measurement precision
If a scale is placed on the body cavity surface for positioning, then the relative position can be determined, but errors occur due to undulation and unevenness of the surface
Solution Approach 1:
The patent extracts the positioning references from the unstable body surface and places them on the stable auxiliary positioning device. The alignment marks are fixed on the device structure, which is held stable by the robot arm, thereby eliminating the problem of surface undulation affecting measurement accuracy.
Solution Approach 2:
The patent moves the positioning references from the two-dimensional body surface to a three-dimensional stable structure (the auxiliary positioning device held by the robot arm). This dimensional transition allows the alignment marks to be positioned in space independent of the unstable body surface, eliminating errors from surface undulation.
Data Source
AI summary
A method for positioning an endoscope involves installing an auxiliary positioning device on a robot arm, coinciding a terminal of a docking member of the auxiliary positioning device with a spherical remote center of motion defined by the robot arm, inserting and fixing the endoscope inside the auxiliary positioning device, removing the docking member of the auxiliary positioning device so that a terminal of the endoscope coincides with the spherical remote center of motion of the robot arm, and then inserting the endoscope into a body cavity catheter for finalizing positioning. Thereby, the method helps to save time used for preoperative preparation and provides more precise positioning, without using any additional positioning tools to approach the body cavity, thereby reducing the risk of infection.