Endoscope Reinsertion Path Compensation for Lens Cleaning
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Solution Overview
Problem
Existing endoscope systems face challenges during robotic insertion and reinsertion in body parts, particularly due to the accumulation of steam, blood, and dirt on the lens, which reduces image clarity, and the need for manual cleaning, which can disturb patients.
Innovation Solution
An automated probe system with a robotic arm, sensors to track movement, and a controller that calculates and compensates for movement paths, automatically removes and reinserts the endoscope for cleaning, ensuring precise reinsertion and maintaining image clarity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual cleaning of the endoscope lens is performed, then image clarity is restored, but patient disturbance increases
Solution Approach 1:
The system uses automated detection and robotic manipulation to perform lens cleaning operations without requiring manual physician intervention. The robot removes and reinserts the endoscope based on calculated paths, enabling the system to service itself rather than requiring external human assistance that disturbs the patient.
Solution Approach 2:
The patent replaces manual mechanical cleaning operations with an automated robotic system. The robot uses calculated insertion and reinsertion paths to mechanically remove and reposition the endoscope, substituting human hand operations with automated mechanical control, thereby reducing patient disturbance while maintaining cleaning effectiveness.
2Manufacturing precision
If robotic manipulation of the endoscope is implemented, then operational precision is improved, but system complexity increases
Solution Approach 1:
The system incorporates sensors to track the position and movement of both the endoscope and the body part in real-time. This feedback mechanism allows the controller to calculate accurate insertion and reinsertion paths, adjusting for body part movement dynamically, thereby achieving high operational precision through closed-loop control.
Solution Approach 2:
The controller pre-calculates the insertion path and reinsertion path before the robotic manipulation begins. By determining the optimal paths in advance based on initial sensor data, the system prepares the robotic arm for precise execution, reducing real-time computational complexity while maintaining high operational accuracy.
3Productivity
If the endoscope remains inserted for extended periods, then procedural efficiency is maintained, but lens contamination increases
Solution Approach 1:
The system implements periodic cleaning cycles during the surgical procedure. The robot automatically removes the endoscope for lens cleaning at predetermined intervals or when contamination is detected, then reinserts it using calculated paths. This periodic maintenance restores lens clarity without requiring prolonged procedure interruptions, balancing productivity with image quality.
Data Source
AI summary
In accordance with one embodiment, an automated probe system includes a probe configured to be reversibly inserted into a live body part, a robotic arm attached to the probe and configured to manipulate the probe, a first sensor configured to track movement of the probe during an insertion and a reinsertion of the probe in the live body part, a second sensor configured to track movement of the live body part, and a controller configured to calculate an insertion path of the probe in the live body part based on the tracked movement of the probe during the insertion, and calculate a reinsertion path of the probe based on the calculated insertion path while compensating for the tracked movement of the live body part, and send control commands to the robotic arm to reinsert the probe in the live body part according to the calculated reinsertion path.