Endoscope Robot Operation Module Decoupling Pitch and Roll Axes

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Solution Overview

Problem

Existing endoscope surgical robot systems face challenges in intuitive operation due to inconsistencies between the user's manipulation direction and the displayed image coordinate system, particularly when performing pitch and roll rotations, leading to difficulties in precise control during surgical procedures.

Innovation Solution

The endoscope surgical robot control device features a novel operation module with a pitch rotation part and a roll rotation part that maintain consistent axes relative to the user's control handle, ensuring that the pitch rotation axis remains fixed during roll rotations, thus aligning the displayed image coordinates with the actual rotation direction, enhancing intuitive control.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If the master device uses a traditional hierarchical connection structure (translation part connected to roll rotation part, which is connected to pitch rotation part, which is connected to yaw rotation part), then the device complexity is reduced and manufacturing is easier, but the operation becomes non-intuitive because the pitch rotation part and yaw rotation part rotate around the roll rotation axis when the roll rotation part rotates

Engineering Contradiction:

Improveintuitive operationVSAvoidcontrol structure complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The control device segments the rotation control into independent rotational degrees of freedom. The pitch rotation part and yaw rotation part are decoupled from the roll rotation part's rotational influence through independent rotational joints, allowing each rotation axis to operate independently without causing unwanted rotations in other axes.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent inverts the traditional connection hierarchy by making the pitch rotation part connected to the translation part rather than to the roll rotation part. This inversion breaks the causal chain that caused the non-intuitive operation, where roll rotation no longer triggers pitch and yaw rotations.

Inventive Principle:

Principle #13The other way round (Inversion)

2Measurement precision

If the pitch rotation part is connected to the roll rotation part in the traditional structure, then the device structure is simplified, but the screen direction becomes inconsistent with the user's operation direction during pitch rotation after roll rotation

Engineering Contradiction:

Improveoperation direction accuracyVSAvoidconnection structure complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The connection structure is segmented to separate the pitch rotation control from the roll rotation control chain. The pitch rotation part is directly connected to the translation part with an independent rotational joint, segmenting the control pathways so that roll rotation does not affect pitch rotation direction.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent changes the rotational parameter independence by introducing independent rotational joints that allow pitch and yaw rotation parts to rotate independently around fixed axes rather than being coupled to the roll rotation axis, maintaining consistent operation direction mapping.

Inventive Principle:

Principle #35Parameter changes

3Productivity

If the master device uses the traditional connected structure, then manufacturing and assembly are easier, but surgery time increases and errors occur due to inconsistent operation direction and screen direction

Engineering Contradiction:

Improvesurgery efficiencyVSAvoiddevice assembly ease

Core Design Contradiction:

ProductivityVSEase of manufacture

Solution Approach 1:

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent implements directional feedback consistency by ensuring that the screen direction always matches the user's operation direction. The independent rotational joints provide consistent mapping between user input and visual feedback, eliminating the directional inconsistency that caused errors in traditional structures.

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS20230157777A1System and device for endoscope surgery robot

Publication Date: 2023.05.25 ROEN SURGICAL INC

AI summary

An endoscope surgical robot system according to an exemplary embodiment may include an endoscope apparatus having an insertion tube and an endoscope camera to monitor an end image of the insertion tube, a driving module connected to the endoscope apparatus and configured to perform pitch rotation or roll rotation of the insertion tube, an operation module configured to be rotated to generate an input signal required for pitch rotation or roll rotation of the endoscope apparatus by a user, and a controller to control operation of the driving module based on the input signal generated by the operation module.