Steerable Endoscope Tip Orientation Display and Bend Limiting
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Solution Overview
Problem
Endoscope users face challenges in navigating the steerable distal portion within tortuous spaces due to disorientation, increased procedure time, and potential complications like intestinal perforation, as they rely solely on visual imaging and manual manipulation without real-time three-dimensional orientation feedback.
Innovation Solution
A system and method that graphically visualize the approximate three-dimensional orientation of the steerable distal endoscope using a graphical user interface, with tensioning members causing y-bends and x-bends, and displaying an icon representing the overall bend and direction, along with a cross-hair interface to aid in orientation, and limiting the overall bend to prevent over-saturation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the steerable distal portion is allowed to bend freely to navigate tortuous spaces, then navigation flexibility is improved, but the user becomes disoriented and procedure time increases
Solution Approach 1:
The patent applies feedback by providing real-time visual information about the three-dimensional orientation of the steerable distal portion through a graphical display. The orientation indicator shows the current bend state (x-bend and y-bend angles) to the user, enabling them to understand the scope's position and make informed navigation decisions, thereby reducing disorientation and procedure time while maintaining navigation flexibility
2Length of moving object
If the steerable distal portion can bend to a large extent to reach distant locations, then reachability is improved, but the risk of intestinal perforation increases
Solution Approach 1:
The patent applies preliminary anti-action by implementing a preset limit on the overall bend of the steerable distal portion. Before the harmful effect of over-bending can occur, the system preemptively restricts the maximum bend angle through software control, thereby preventing intestinal perforation while still allowing sufficient reachability for navigating tortuous spaces
3Reliability
If the overall bend is limited to prevent over-saturation, then safety is improved, but navigation capability in extreme tortuosity may be reduced
Solution Approach 1:
The patent applies partial action by setting the bend limit at a value that provides sufficient navigation capability for most clinical scenarios while prioritizing safety. The preset limit allows the steerable distal portion to bend enough to navigate typical tortuous spaces but restricts extreme bending that would pose safety risks, achieving an optimal balance between safety and navigation capability
Data Source
AI summary
A method for controlling an orientation of a steerable distal portion of an elongate instrument, said instrument comprising at least one tensioning member attached to said steerable distal portion may include receiving an input command at a controller for articulation of said steerable distal portion, the articulation correlating to an approximate y-bend and an approximate x-bend of said steerable distal portion; calculating an approximate overall bend from said approximate y-bend and said approximate x-bend; and setting a limit of said approximate overall bend beyond which said steerable distal portion is not permitted to achieve. The method may further include one of: causing actuation of said at least one tensioning member to achieve said y-bend and said x-bend on a condition of said calculated approximate overall bend being equal to or less than said limit, and repeating the receiving, calculating, and setting steps on a condition of said calculated approximate overall bend being greater than said limit.