Robotic Endoscope Reinsertion With Motion-Compensated Path Tracking
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Solution Overview
Problem
Existing endoscope systems face challenges in maintaining clear images during medical procedures due to lens coating from steam, blood, and dirt, and manual reinsertion is cumbersome, especially when the patient's body part moves.
Innovation Solution
An automated probe system with a robotic arm, sensors to track movement, and a controller that calculates and compensates for body part movement to reinsert the probe along a calculated path, and includes a lens cleaning mechanism to maintain image clarity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If manual reinsertion of the endoscope is performed after lens cleaning, then the lens can be cleaned effectively, but the procedure becomes time-consuming and cumbersome
Solution Approach 1:
The robotic system performs self-service by automatically tracking its own insertion path using sensors and recalculating the reinsertion path based on stored trajectory data, eliminating the need for manual operator intervention in path planning
Solution Approach 2:
The system performs preliminary action by storing the insertion path data during the initial insertion phase, so that when reinsertion is needed after cleaning, the path information is already available and only recalibration is required, significantly reducing reinsertion time
2Reliability
If the endoscope is removed for lens cleaning, then image clarity can be restored, but the positioning accuracy is lost and reinsertion becomes difficult
Solution Approach 1:
The system uses feedback from sensors that continuously monitor the endoscope position and movement during insertion, storing this data for later use in recalculating the reinsertion path, ensuring accurate positioning is restored after cleaning
Solution Approach 2:
The system creates a digital copy of the insertion path through sensor tracking and data storage, allowing the reinsertion to follow the same trajectory without requiring physical memorization or manual repositioning by the operator
3Manufacturing precision
If automated robotic manipulation is used for probe insertion, then precision and consistency are improved, but the system complexity increases
Solution Approach 1:
The robotic arm is designed with multi-functionality, serving both for the initial insertion and the reinsertion after cleaning, eliminating the need for separate specialized mechanisms for each operation
Solution Approach 2:
The system replaces complex mechanical path-memory mechanisms with electronic sensor tracking and software-based path calculation, reducing mechanical complexity while maintaining or improving precision
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.