Endoscopic Surgical System Instrument Position Stabilization

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Solution Overview

Problem

Conventional endoscopic surgical systems face challenges where the position and attitude of a surgical instrument within the endoscope image do not remain stable when the endoscope is moved, leading to the surgical instrument potentially moving out of the visual field, as the position and attitude of the endoscope and surgical instrument are not operated independently.

Innovation Solution

An endoscopic surgical system is configured with an endoscope, a surgical instrument that can be inserted into its channel, and control means that acquire and adjust position and attitude information to maintain the surgical instrument's position within the visual field independently of the endoscope's movement, using surgical instrument position/attitude information acquisition and endoscope position/attitude information acquisition to control the surgical instrument's movement.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the endoscope is moved to change the observation field, then the visual field changes, but the surgical instrument moves out of the visual field

Engineering Contradiction:

Improveendoscope movement capabilityVSAvoidsurgical instrument position stability

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The system detects the position and attitude of both the endoscope and surgical instrument, and uses this feedback information to automatically adjust the surgical instrument's position. The control means calculates the relative position change and generates correction commands to keep the surgical instrument within the visual field, resolving the contradiction between endoscope mobility and instrument position stability.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The control means acts as an intermediary between the endoscope position changes and the surgical instrument positioning. It receives position information from both devices, processes the relationship, and generates appropriate control signals to coordinate their movements, ensuring the surgical instrument remains in the correct position relative to the observation field.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Reliability

If the surgical instrument position is fixed relative to the endoscope, then the instrument stays in position, but the instrument cannot be operated independently

Engineering Contradiction:

Improvesurgical instrument position stabilityVSAvoidindependent operation capability

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The system dynamically adjusts the surgical instrument's position based on real-time detection of endoscope and instrument positions. Rather than a fixed mechanical coupling, the control means continuously calculates and adjusts the instrument position to maintain it within the visual field while allowing independent operation capabilities.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The position detection means continuously monitors both endoscope and surgical instrument positions, providing feedback to the control means. This feedback loop enables the system to maintain instrument stability while responding to operator inputs, allowing independent operation while preserving position reliability.

Inventive Principle:

Principle #23Feedback

3Reliability

If the surgical instrument is actively driven to follow endoscope movement, then the instrument remains in the visual field, but the system complexity increases

Engineering Contradiction:

Improvesurgical instrument position stabilityVSAvoidcontrol system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system uses position detection means to continuously monitor the endoscope and surgical instrument positions, creating a feedback loop that enables automatic position adjustment. This feedback mechanism maintains instrument stability within the visual field while managing system complexity through intelligent control algorithms.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces complex mechanical coupling mechanisms with an intelligent control system that uses position detection and active driving. Instead of physical linkages between endoscope and instrument, the system uses electronic control based on detected position information, reducing mechanical complexity while achieving the same functional goal.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentEP2147630B1Endoscopic surgical system

Publication Date: 2015.12.16 OLYMPUS CORPORATION(JP)

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AI summary

Endoscope position/attitude information acquisition means (44) which acquires position/attitude information of an endoscope (11) is connected to a control device (39) which controls a motor box (28) which actively actuates a surgical instrument, and the control device (39) utilizes the position/attitude information to adjust a control signal of the motor box (28) so that a position deviation of the surgical instrument within an endoscope image when the position of the endoscope changes is prevented from occurring.