Flexible Endoscope Rotation Detection via Direction Vector Comparison
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Solution Overview
Problem
Existing insertion support systems face challenges in accurately determining the rotation quantity of insertion sections, particularly in flexible endoscopes, due to limitations in detecting rotation in linear states and complexities in calculating rotation quantities with single-axis coils, which can lead to errors and reduced insertability.
Innovation Solution
The system employs a state acquisition apparatus to gather position and direction vector information, and a support information calculator to calculate rotation quantities using magnetic field generators arranged at multiple positions, allowing for accurate rotation detection even in linear states by bending the insertion section and employing algorithms to correct for errors caused by factors other than rotation operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If magnetic shape detection processing is used with a coil to detect insertion section shape, then loop detection capability is provided, but rotation quantity calculation accuracy deteriorates in linear states
Solution Approach 1:
The insertion section is divided into multiple measurement points along its length, with each point independently detecting position and direction vector information. This segmentation allows the system to calculate rotation quantities by comparing adjacent points, thereby maintaining accuracy even when the overall insertion section is in a linear state.
Solution Approach 2:
The system transitions from detecting only positional information to detecting both position and direction vector information at each measurement point. By adding the dimension of direction vector detection, the system can accurately calculate rotation quantities through vector comparison, resolving the inability to detect rotation in linear states.
2Device complexity
If single-axis coil configuration is used for magnetic field generation, then device complexity is reduced, but rotation detection accuracy deteriorates due to calculation errors
Solution Approach 1:
The system replaces complex multi-axis coil configurations with a simpler single-axis coil arrangement. Instead of using multiple coils to achieve accurate rotation detection, the invention substitutes this mechanical/electrical complexity with a computational approach that calculates rotation quantities by comparing direction vectors from multiple measurement points, thereby maintaining accuracy while reducing device complexity.
3Device complexity
If rotation quantity is calculated based on position information alone, then device complexity is minimized, but measurement precision deteriorates due to inability to detect rotation in linear states
Solution Approach 1:
The system enhances the detection capability by adding direction vector information to the position information from each measurement point. This additional dimensional data allows the calculation of rotation quantities through vector comparison, enabling accurate rotation detection in linear states without increasing the physical complexity of the detection system.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enhances the accuracy of rotation quantity calculation and improves the insertability of flexible endoscopes by providing precise support information for operators, enabling smoother insertion and reducing errors associated with rotation detection.
Implementation Method 1
a state acquisition apparatus configured to acquire first information including at least one of a plurality of pieces of position information related to a plurality of positions of an insertion section; and a plurality of pieces of direction vector information in a longitudinal axis direction of the insertion section
Data Source
AI summary
An insertion support system includes a state acquisition apparatus configured to acquire first information. The first information includes at least one of: a plurality of pieces of position information related to a plurality of positions of an insertion section to be inserted into an insertion target body; and a plurality of pieces of direction vector information in a longitudinal axis direction of the insertion section. The insertion support system also includes a support information calculator configured to calculate second information related to a rotation quantity of the insertion section based on the first information, and an output section configured to output the second information.