Endoscope Self-Propulsion Torque Control via Motor Current Dynamics
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Solution Overview
Problem
Existing endoscope apparatuses lack an adaptive torque limit control mechanism that effectively manages sudden changes in internal resistance during self-propulsion, leading to inefficient operation and prolonged inspection times.
Innovation Solution
A control apparatus with a current controller, motor current detector, and limit controller that adjusts the torque limit value based on the increase rate of motor current to prevent excessive torque, allowing for dynamic control of the self-propelling mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fixed torque limit value is set based on minimum torque within a predetermined time, then the torque limit function can prevent excessive torque, but it cannot adapt to sudden changes in internal resistance leading to prolonged inspection times
Solution Approach 1:
The patent applies dynamics by transitioning from a fixed torque limit value to a dynamic torque limit value that changes in real-time based on motor current variations. The control device calculates the rate of change of motor current and adjusts the torque limit accordingly, enabling the system to adapt to sudden changes in internal resistance during insertion, thereby reducing unnecessary torque limit activations and shortening inspection time
Solution Approach 2:
The patent implements parameter changes by modifying the torque limit parameter based on the rate of change of motor current. Instead of using a constant torque limit value, the system dynamically adjusts this parameter according to real-time motor current measurements, allowing the torque limit function to respond adaptively to changing load conditions during endoscope insertion
2Reliability
If the torque limit value is set considering internal resistance, then excessive torque can be prevented, but unnecessary torque limit interventions occur reducing operational efficiency
Solution Approach 1:
The patent applies feedback by continuously monitoring motor current and using this information to dynamically adjust the torque limit value. The control device calculates the rate of change of motor current and feeds this information back to modify the torque limit setting in real-time, ensuring that torque limit interventions occur only when genuinely needed rather than based on a static predetermined value
Solution Approach 2:
The system transitions from static torque limit control to dynamic torque limit control that adapts to real-time operating conditions. By continuously adjusting the torque limit value based on motor current rate of change, the system maintains reliable torque control while minimizing unnecessary interventions that would reduce operational efficiency
Data Source
AI summary
An endoscope apparatus includes an elongated insertion portion, a self-propelling mechanism configured to be rotatably driven to advance and retract the insertion portion, and a motor configured to supply a drive force to the self-propelling mechanism. A control apparatus for the endoscope apparatus includes a current controller configured to supply a motor current to the motor to control driving of the motor, a motor current detector configured to detect a value of the motor current, a motor current change amount detector configured to detect an amount of change in the value of the motor current, and a limit controller configured to stop a supply of the motor current by the current controller according to the amount of change.