Flexible Endoscope Pose Control via Sensor Feedback
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Solution Overview
Problem
Current endoscopic systems lack precise control over the positioning and orientation of flexible endoscopes, particularly in surgical procedures, where maintaining a stable view while maneuvering the instrument is challenging due to the rigidity of traditional endoscopes and the limitations of existing robotic manipulators.
Innovation Solution
The system employs a flexible endoscope supported by an endoscope support and a cannula, with a controller that determines the pose of the endoscope's field of view by calculating the positions of its distal and proximal ends, allowing for independent movement of the proximal end without altering the distal end's pose, using a combination of mechanical and sensor data to adjust the endoscope's flexure and the cannula's position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a rigid endoscope is used to maintain structural stability, then the endoscope can maintain its shape, but it cannot be maneuvered flexibly through curved pathways
Solution Approach 1:
The endoscope shaft is divided into multiple flexible segments or articulated sections that can bend relative to each other, allowing the distal end to navigate curved pathways while maintaining overall structural integrity. The shaft includes multiple sections that can flex independently to accommodate anatomical curves.
Solution Approach 2:
The endoscope employs flexible shaft construction with flexible walls and membranes that allow bending and curving. The shaft is designed with flexible materials and structures that enable it to conform to curved anatomical pathways while still transmitting images and controlling instruments.
2Measurement precision
If traditional robotic manipulators are used to control the endoscope, then automation is provided, but precise control of the distal end pose while moving the proximal end is not achieved
Solution Approach 1:
The system incorporates sensors (such as optical sensors, capacitive sensors, or inductive sensors) that detect the position and orientation of the endoscope shaft segments. This feedback information is processed by a controller that calculates the current pose and adjusts the manipulator commands to achieve precise distal end positioning while allowing proximal end movement.
Solution Approach 2:
The patent replaces complex mechanical linkages with a more sophisticated sensor-based control system. Instead of relying on mechanical constraints to maintain pose relationships, the system uses electronic sensors and computational algorithms to track and control the endoscope's pose, enabling more flexible and precise control.
3Ease of operation
If the proximal end of the endoscope is moved to reposition it, then the operator can adjust the view, but the distal end pose changes causing instability in the surgical view
Solution Approach 1:
The system dynamically adjusts the endoscope configuration based on real-time sensor feedback. When the proximal end is repositioned, the flexible shaft adapts its configuration dynamically, and the controller calculates the necessary adjustments to maintain the distal end pose. This dynamic response allows smooth repositioning without view instability.
Solution Approach 2:
The controller changes the configuration parameters of the flexible shaft in response to proximal end movement. By adjusting the bend angles and curvature parameters of the shaft segments, the system maintains the distal end position and orientation while allowing the proximal end to be repositioned for operator convenience.
4Adaptability or versatility
If the endoscope shaft is made flexible to navigate curved pathways, then it can be maneuvered through tight spaces, but the shaft may collide with surrounding structures
Solution Approach 1:
Sensors embedded in or near the endoscope shaft provide real-time feedback on the shaft's position and orientation relative to surrounding structures. The controller uses this information to monitor for potential collisions and adjusts the shaft configuration or stops movement before contact occurs, enabling safe navigation through tight anatomical spaces.
Solution Approach 2:
The flexible shaft acts as an intermediary element that can be actively controlled to navigate between obstacles. The controller mediates between the operator's input and the physical constraints of the anatomy, adjusting the shaft's configuration in real-time to avoid collisions while maintaining maneuverability.
Data Source
AI summary
Systems and methods for endoscopic operations are described. For example, the disclosure provides an endoscopic system with an endoscope support configured to hold an endoscope. The endoscope includes a shaft and an image capturer positioned at a distal end of the shaft, the image capturer configured to capture an image. The endoscopic system further includes a cannula support configured to hold a cannula, with the image capturer being insertable through the cannula. The endoscopic system also includes a controller with a processor, the controller configured to determine a pose of a point of the endoscope based on a first location of a first point and a second location of a second point, the first point being of the endoscope and the second point being of the cannula, where the pose of the point is a pose of a frame of reference originating at the point.