Endoscope Wire Tension Control for Stable Distal Bend Angle
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Solution Overview
Problem
Existing endoscopes face challenges in maintaining the bend angle of the distal end when a treatment tool is inserted, leading to unwanted changes in the visual field due to the rigidity of the tool.
Innovation Solution
An endoscope control device and method that includes a processor to control an actuator connected to wires, allowing the bend angle to be maintained at a desired angle by loosening the wires after initial bending, using a hysteresis curve to manage tension and angle changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the wire is loosened to reduce tension after bending, then the bending section can return to a smaller angle, but the bend angle cannot be maintained when a treatment tool is inserted
Solution Approach 1:
The system continuously detects the bend angle using a position sensor and compares it with the target angle, then automatically adjusts wire tension through the actuator to maintain the desired bend angle, creating a closed-loop feedback control system that resolves the contradiction between wire tension adjustment and bend angle stability
Solution Approach 2:
The system pre-adjusts wire tension before a treatment tool is inserted to anticipate and compensate for the upcoming load change, maintaining bend angle stability proactively rather than reactively
2Stability of the object's composition
If the wire tension is increased to maintain bend angle, then the bending section remains stable, but the system cannot accommodate insertion load of treatment tools
Solution Approach 1:
The wire tension is made dynamically adjustable through an actuator mechanism, allowing the system to transition between different tension states as needed - high tension for stability during observation, and reduced tension to accommodate treatment tool insertion - thereby resolving the contradiction between maintaining stable bend angle and adapting to treatment requirements
Solution Approach 2:
The system changes the wire tension parameter dynamically based on operational requirements, adjusting it to maintain bend angle stability when needed and reducing it to accommodate treatment tools, thus resolving the contradiction between stability and adaptability
3Adaptability or versatility
If the distal end position is allowed to change to accommodate treatment tools, then treatment tools can be inserted, but the visual field changes due to positional displacement
Solution Approach 1:
The position sensor provides real-time feedback on distal end position, enabling the control system to detect and correct positional displacement caused by treatment tool insertion, thereby maintaining visual field stability while accommodating treatment tools through active compensation
Data Source
AI summary
The present disclosure provides an endoscope control device comprising: at least one processor comprising hardware, the at least one processor being configured to: control an actuator connected to at least one wire of an endoscope to drive the at least one wire and bend a bending section at a distal end of the endoscope to a first angle, and when a bend angle of the bending section is returned to a second angle smaller than the first angle by loosening the at least one wire from the state where the bending section is bent to the first angle, control the actuator to drive the at least one wire to maintain the bend angle at the second angle.