Endoscope Shape Estimation via Virtual Copy and Sensor Feedback
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Solution Overview
Problem
Existing endoscope systems lack the ability to directly observe the shape of an insertion section within a tube hole, making it difficult for operators to navigate complex or deformable observation targets, especially for inexperienced technicians, due to the inability to visually monitor the insertion section's position and shape from outside the observation target object.
Innovation Solution
A future shape estimation apparatus comprising a flexible insertion section with a shape sensor that detects bending states and outputs detection signals, an insertion section future shape estimation circuit that predicts the shape of the insertion section after a predetermined time, and an operation support circuit that notifies the operator of the estimated shape to aid in insertion and removal.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If an operator manually manipulates the insertion section based on intuition and imagination, then the operator can perform operations inside the observation target object, but the operator cannot directly observe the shape and position of the insertion section from outside, making it difficult to navigate complex or deformable structures
Solution Approach 1:
The patent creates a virtual copy (virtual endoscope) that replicates the physical insertion section's shape, position, and movement in real-time. This virtual model is generated based on shape sensor data and displayed on a monitor, allowing operators to observe the insertion section's state outside the patient's body without adding physical complexity to the actual insertion device.
Solution Approach 2:
The patent introduces a shape sensor as an intermediary component that indirectly measures the insertion section's shape by detecting the position of markers on the insertion section. This intermediary measurement system bridges the gap between the physical insertion section and the visual information displayed to the operator, enabling observation without direct line-of-sight.
2Adaptability or versatility
If the tube hole has a complex shape or the observation target object is soft and deformed, then the insertion section can adapt to the structure, but the insertion operation becomes more difficult and requires highly-trained technicians
Solution Approach 1:
The patent implements real-time feedback by continuously displaying the virtual endoscope's shape and position on a monitor during the insertion operation. This feedback loop allows operators to see the immediate consequences of their manipulation actions, enabling them to navigate complex shapes with confidence without requiring extensive training to develop intuition through repeated practice.
Solution Approach 2:
The patent performs preliminary visualization by displaying the virtual endoscope's anticipated path and current position before the operator completes the insertion. This allows operators to plan their next movements based on the visual information, reducing the need for trial-and-error maneuvers that would otherwise require experienced technicians to anticipate potential problems.
3Loss of information
If real-time shape detection is implemented using shape sensors, then the insertion section's shape can be observed, but the system complexity increases with additional sensors and processing circuits
Solution Approach 1:
The patent makes the shape sensor system universal by using it for multiple purposes: detecting the insertion section's shape for visualization, determining the position of the distal end, and monitoring the overall configuration during insertion. This multi-functional use of the same sensor system avoids adding separate detection devices for each function, thereby limiting the increase in system complexity.
Solution Approach 2:
The patent creates a virtual copy of the insertion section that can be manipulated and displayed independently from the physical device. This virtual model allows complex shape information to be processed and visualized through software algorithms rather than requiring complex hardware modifications to the physical insertion section itself.
4Adaptability or versatility
If the insertion section is made flexible to navigate complex shapes, then the adaptability improves, but the ability to control and detect the exact shape becomes more difficult
Solution Approach 1:
The patent segments the insertion section into multiple detectable units by placing multiple markers at different positions along its length. The shape sensor detects the position of each marker independently, and the control circuit synthesizes this segmented information to reconstruct the overall shape. This segmentation approach maintains detection precision even when the insertion section is flexible and deformed, as each marker's position can be accurately determined regardless of the section's overall configuration.
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 solution allows for improved operator training and skill improvement by providing real-time shape estimation, enabling even inexperienced operators to easily insert and remove the insertion section from the observation target object, reducing the time required for training and enhancing operational efficiency.
Implementation Method 1
a shape sensor which detects a bending state of the insertion section and outputs a detection signal
Implementation Method 2
an insertion section future shape estimation circuit which estimates a future shape of the insertion section after a predetermined lapse of time based on information acquired from the detection signal
Data Source
AI summary
A future shape estimation apparatus includes an insertion section, a shape sensor and an insertion section future shape estimation circuit. The insertion section has flexibility and is to be inserted into an observation target object. The shape sensor detects a bending state of the insertion section and outputs a detection signal. The insertion section future shape estimation circuit estimates a future shape of the insertion section after a predetermined lapse of time based on information acquired from the detection signal output from the shape sensor, and outputs the future shape as future estimation shape information.