Flexible Robotic Endoscopy Apparatus Docking Station Alignment
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Solution Overview
Problem
Current flexible robotic endoscopy systems face challenges in setup and assembly efficiency, precision control, and instrument insertion forces, which affect the reliability of spatial and temporal control of end effectors during procedures.
Innovation Solution
A robotic endoscopy apparatus with a main body and flexible elongate shaft featuring aligned insertion inlets and a support function connector assembly for easy assembly and disassembly, along with a docking station and motorbox for precise control of flexible elongate assemblies, enabling quick and secure engagement of instruments and enhanced precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If flexible endoscopic instruments are inserted into the flexible robotic endoscopy system, then the system can perform surgical procedures, but the insertion forces may compromise the precision control of end effectors
Solution Approach 1:
A docking station is introduced as an intermediary device between the flexible endoscopic instruments and the control system. The docking station includes alignment features and coupling mechanisms that guide instruments into precise positions during insertion, ensuring that control elements align accurately with their corresponding actuation mechanisms while still allowing quick instrument changes
2Adaptability or versatility
If the flexible robotic endoscopy system is set up with multiple instruments, then surgical procedures can be performed, but the setup and assembly process becomes time-consuming
Solution Approach 1:
Instruments are pre-configured with standardized control elements and coupling features that match the docking station interfaces. The docking station includes pre-positioned alignment features and quick-coupling mechanisms that enable rapid instrument insertion and connection without requiring time-consuming manual alignment or complex assembly procedures
3Adaptability or versatility
If instruments are frequently inserted and removed from the system, then different surgical procedures can be performed, but the assembly and disassembly process reduces operational efficiency
Solution Approach 1:
The docking station serves as a mediator that standardizes the connection interface between instruments and the control system. It includes quick-release coupling mechanisms and alignment features that enable rapid instrument replacement without requiring complex disassembly procedures, thereby maintaining high operational efficiency while supporting instrument interchangeability
Data Source
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AI summary
An enhanced flexible robotic endoscopy apparatus (300) includes a main body (310) and flexible elongate shaft (320). The main body comprises a proximal end (311), a distal end (311b) and a housing (312) that extends to the proximal end and the housing comprises a plurality of surfaces and a plurality of insertion inlets (315) which reside on at least one of the surface of the housing at the proximal end of the main body, through which a plurality of channels for endoscopy are accessible. Each of the insertion inlets has insertion axis corresponding thereto, along which flexible elongate assemblies are insertable, with the insertion axes of the insertion inlets being parallel to the central axis of the flexible elongate shaft at the proximal end of the flexible elongate shaft.