Expandable Support Structure for Flexible Instrument Buckling Control
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Solution Overview
Problem
Flexible interventional instruments used in minimally invasive medical procedures often bend, twist, or buckle when inserted into the patient's anatomy, potentially damaging internal components like optical fiber shape sensors or endoscopic equipment due to the lack of adequate structural support during insertion and maneuverability.
Innovation Solution
A variable height support structure with a high expansion ratio, utilizing a truss structure and two-axis gimbals, that transitions from a compressed to an expanded configuration along a longitudinal axis, providing lateral support and allowing for efficient passage of flexible members while being stowable in a small axial package.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If flexible interventional instruments are used for minimally invasive procedures, then patient tissue damage is reduced, but the instruments bend, twist, or buckle during insertion due to lack of structural support
Solution Approach 1:
The support structure is divided into multiple expandable sections or segments that can be collapsed during insertion and expanded at the target site. This segmentation allows the instrument to remain flexible during passage through the body while providing structural support when deployed, preventing bending and buckling of the flexible instrument shaft.
Solution Approach 2:
The support structure transitions from a static, rigid form to a dynamic, adaptable form that can change its mechanical properties. The structure is designed to be collapsible and expandable, allowing it to adapt between a flexible state during insertion and a rigid state during operation, thereby preventing instrument deformation while maintaining minimally invasive capabilities.
2Stability of the object's composition
If rigid support structures are added to prevent instrument deformation, then structural stability is improved, but the overall device size and complexity increase
Solution Approach 1:
The support structure is designed with nested or telescoping components that fit within each other during the collapsed state, minimizing the overall device size. When expanded, these nested components form a rigid support framework. This nesting approach provides structural stability while avoiding the need for large, complex external support mechanisms.
Solution Approach 2:
The support structure utilizes dimensional transformation by collapsing in the radial direction to achieve a small profile during insertion, then expanding radially to provide lateral support at the target site. This dimensional change allows the structure to provide structural stability without increasing the device's longitudinal size or overall complexity.
3Manufacturing precision
If the support structure is expanded to provide lateral support, then instrument control precision is improved, but the axial package size increases
Solution Approach 1:
The support structure is segmented into multiple collapsible sections that can be compacted axially during insertion. Each segment can fold or telescope, allowing the overall axial length to be minimized while still providing the necessary lateral support when expanded. This segmentation enables high expansion ratio and precise control without increasing the axial package size.
Solution Approach 2:
The support structure achieves lateral expansion perpendicular to the axial direction, transforming from a compact axial package to an expanded lateral configuration. This dimensional change allows the structure to provide the necessary lateral support for precise instrument control while maintaining a small axial footprint during insertion and storage.
Data Source
AI summary
A variable height support structure is provided. The variable height support structure can include a first support member, a second support member, a first expansion link, a second expansion link, and a third expansion link. The variable height support structure can selectively transition from a compressed configuration to an expanded configuration along a longitudinal central axis that extends between the first support member and the second support member.