Endoscopic Tool Actuation via Support Foot
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Solution Overview
Problem
Current endoscopic instruments face challenges in precisely positioning and moving tools relative to internal organs due to manual inaccuracy, organ movements, and discomfort caused by immobilization methods, with existing solutions being cumbersome or prone to uncontrolled slipping.
Innovation Solution
An endoscopic instrument with a rigidly connected foot that bears on the internal organ and contains actuators for controlled movement, allowing the tool to follow organ movements while maintaining precise positioning through internal actuation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the endoscopic instrument is immobilized to ensure stable positioning, then positioning stability is improved, but patient discomfort increases and the access route suffers stresses
Solution Approach 1:
The instrument is divided into two functional segments: the proximal end (endoscopic instrument) that remains stationary in the access route, and the distal end (foot + tool) that is independently movable relative to the organ. This segmentation allows the proximal part to maintain stable positioning without transmitting forces to the patient, while the distal part can move freely to track organ movements and perform precise interventions.
Solution Approach 2:
A flexible cable or rod acts as an intermediary element connecting the proximal end to the distal end. This intermediary transmits control signals from the proximal end to the distal end while allowing relative movement between the two segments. The flexible cable/rod enables the distal end to follow organ movements without transmitting mechanical stresses to the access route, thus mediating between positioning stability and patient comfort.
2Ease of operation
If the tool is moved manually by acting on the external part of the endoscopic instrument, then ease of operation is improved, but positioning precision deteriorates due to lack of compensation for organ movements
Solution Approach 1:
The system incorporates sensors (optical, acoustic, or capacitive) that continuously detect the relative position between the foot and the organ surface. This feedback information is processed to automatically adjust the tool position, compensating for organ movements. The feedback mechanism maintains positioning precision while keeping the operator informed of the actual tool position through visual or tactile indicators.
Solution Approach 2:
The distal end of the instrument is equipped with autonomous movement capabilities that allow it to automatically track and follow the organ's movements without requiring constant manual intervention. The self-service mechanism uses onboard sensors and actuators to maintain optimal positioning relative to the organ, reducing the operator's workload while improving positioning precision.
3Stability of the object's composition
If a shaping tool is pressed firmly onto the organ to immobilize it, then organ immobility is improved, but device complexity and invasiveness increase
Solution Approach 1:
The invention extracts the immobilization function from the distal end and transfers it to the proximal end. The proximal end is equipped with a shaping tool that contacts the organ through the access route, providing immobilization at the source rather than at the distal end. This extraction simplifies the overall device structure by eliminating the need for complex distal immobilization mechanisms while maintaining effective organ stabilization.
4Measurement precision
If automatic control algorithms are used to annul relative movements, then positioning precision is improved, but device complexity and computational requirements increase
Solution Approach 1:
The invention replaces complex computational control algorithms with a more straightforward mechanical feedback mechanism. Sensors detect the relative position between the foot and the organ, and this information is directly used to adjust the tool position through a simplified control loop. This substitution reduces computational complexity while maintaining positioning precision through direct mechanical feedback rather than complex recursive and adaptive control algorithms.
Data Source
AI summary
The invention relates to an endoscopic instrument (1) having an elongate body with a distal end (4) designed to be introduced into the body of the patient so as to come into proximity with an internal organ, the distal end carrying a tool (7) for intervention on the internal organ. The endoscopic instrument has a fool (10) rigidly connected to the distal end and designed to bear on the internal organ, and also controllable means (13) for conferring movements on the tool, at least in directions transverse to a longitudinal axis (X) of the distal end of the endoscopic instrument, when the foot is bearing against the internal organ.