Endoscope Steering Control via Tension Feedback
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Solution Overview
Problem
Industrial endoscopes face challenges in accurately controlling their steering due to the aging of steering steel wires, which leads to failure in reaching destinations for operations in narrow enclosed spaces.
Innovation Solution
A method is introduced that includes tension sensors on steering steel wires, a controller, and drivers to adjust the tension and rotation of the steel wires, ensuring accurate bending angles by monitoring and compensating for tension differences and preventing over-tensioning, thereby addressing the aging issue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If steering steel wires are used to achieve steering in narrow spaces, then the endoscope can perform operations in confined areas, but the steel wires age after being stretched multiple times, causing steering control to fail
Solution Approach 1:
The patent applies feedback by using tension sensors to detect the real-time tension state of steering steel wires and feeding this information back to the controller. The controller adjusts the driver's rotation based on the feedback to maintain accurate steering control even when steel wires age and their tension characteristics change. This closed-loop feedback mechanism resolves the contradiction between adaptability and reliability.
Solution Approach 2:
The patent changes the control parameter from fixed rotation angles to dynamic tension-based adjustment. By monitoring tension parameters and adjusting the driver's rotation accordingly, the system adapts to aging steel wires while maintaining reliable steering control in narrow spaces.
2Ease of operation
If greater tension is applied to steering steel wires to perform operations in narrow enclosed spaces, then operation capability is improved, but the steel wires age faster and may fail to reach destinations
Solution Approach 1:
The tension sensor provides real-time feedback on the steel wire tension state, allowing the controller to monitor and limit the tension applied during operations. This prevents excessive tension that would accelerate aging while still enabling effective operation in enclosed spaces, thus extending steel wire service life.
Solution Approach 2:
The system preemptively monitors steel wire tension before failure occurs. By detecting tension levels and adjusting operation parameters in advance, the system prevents conditions that would lead to rapid aging and failure, cushioning against the harmful effects of excessive tension.
3Reliability
If tension sensors and control mechanisms are added to compensate for steel wire aging, then steering accuracy is maintained, but device complexity increases
Solution Approach 1:
The patent uses feedback from tension sensors to maintain steering accuracy, accepting the increased device complexity as necessary to resolve the reliability issue caused by steel wire aging.
Solution Approach 2:
The patent replaces purely mechanical steering control with an integrated sensor-based control system. By substituting mechanical angle-based control with tension-based feedback control, the system maintains accuracy despite the added complexity of electronic components.
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 method ensures accurate control of the endoscope's steering by compensating for tension differences and preventing over-tensioning, thereby maintaining operational effectiveness despite steel wire aging, ensuring the endoscope can reach desired positions in confined spaces.
Implementation Method 1
an elastic member is disposed between two adjacent joints of the joints
Implementation Method 2
each of the steering steel wires is provided with a tension sensor
Data Source
Figure 1~2
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AI summary
A method for adjusting a steering of an endoscope (100) and an endoscope (100), includes: acquiring a bending direction and a bending angle θ1 of the endoscope (100) when steering of the endoscope (100) is to be adjusted; determining, based on the bending direction, a steering steel wire (20) to be adjusted among the plurality of steering steel wires (20), and determining, based on the bending angle θ1, a tension value Fy1 of the steering steel wire (20) to be adjusted and a rotation angle of the driver (50) corresponding to the steering steel wire (20) to be adjusted; controlling the driver (50) corresponding to the steering steel wire (20) to be adjusted to rotate by the rotation angle; reading a value of the tension sensor (40) corresponding to the steering steel wire (20) to be adjusted, and recording the value as F1; identifying whether F1 is less than Fy1; and continuing to control the driver (50) corresponding to the steering steel wire (20) to be adjusted to rotate in a same direction such that the value of the tension sensor (40) corresponding to the steering steel wire (20) to be adjusted is equal to Fy1, if F1 is less than Fy1. In this way, the case where steering of the endoscope (100) fails to be accurately controlled due to aging of the steel wire (20) is avoided.