Flexible Manipulator Control via Segmented Joystick and Dial Inputs
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Solution Overview
Problem
Minimally invasive surgeries using flexible endoscopes face challenges in efficiently controlling the shape of multiple bends, leading to increased procedure duration and operator burden due to complex manipulation requirements and difficulty in maintaining precise control over bend angles.
Innovation Solution
A system and method for controlling flexible manipulators using a control device that integrates input from multiple manipulation elements, including joysticks and dials, to calculate driving amounts for bending flexible members, with homing mechanisms for efficient return to original positions and selective control over bend angles and angular velocities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the shape of a bend is changed by an amount proportional to the input from the operator, then the bend maintains the changed shape when manipulation input is set to zero, but the manipulation system becomes complicated and takes a substantial amount of time for the return manipulation
Solution Approach 1:
The control system is segmented into two independent manipulation elements: a first manipulation element for changing the bend shape proportionally, and a second manipulation element for returning the bend to its original shape. This segmentation allows each element to have a specific function, simplifying the overall control logic while maintaining precise bend shape control.
Solution Approach 2:
The second manipulation element is designed to automatically return the bend to its original shape when activated, preparing the system for the next manipulation cycle. This preliminary action of returning to the original state eliminates the complexity of manual return manipulation and reduces procedure time.
2Adaptability or versatility
If the number of bendable portions in the endoscope is increased to reach deep into the body, then the endoscope can navigate complex passages without contact with surrounding tissues, but the manipulation difficulty and procedure duration increase
Solution Approach 1:
Each bendable portion is controlled by dedicated manipulation elements, allowing independent control of each bend. This segmentation enables the operator to manipulate multiple bends simultaneously with ease, improving navigation capability while maintaining operational simplicity.
Solution Approach 2:
The control system dynamically adjusts the bend shapes based on real-time manipulation inputs, allowing the endoscope to adapt to complex passages. The first manipulation element provides proportional shape change for precise positioning, while the second element enables quick return to original configurations when needed.
3Ease of operation
If the physician directly manipulates the flexible manipulator without feedback on the insertion portion shape, then the manipulation process becomes complex and time-consuming, but providing visual feedback requires additional system complexity
Solution Approach 1:
The system uses manipulation elements that directly represent the desired bend shapes, creating a simplified control interface. The first manipulation element's position directly corresponds to the target bend shape, providing an intuitive copy of the desired configuration without requiring complex visual feedback systems.
Data Source
AI summary
The present application relates to a flexible manipulator including at least one flexible member (bend) controlled by an input device in the form of a joystick. Specifically, to prevent the flexible manipulator inserted into a narrow space from contacting surrounding objects, the flexible manipulator according to the present invention is configured to maintain the shape when the operator releases the joystick. However, when the flexible manipulator is shaped to be at a target position and subsequently needs to be returned to the original shape, the operator manipulates the joystick using complicated and time consuming manipulation techniques. A control device in communication with the flexible manipulator is configured to allow the operator to select an input method for maintaining the shape of the flexible manipulator after the joystick is released. In addition, an input method for returning the flexible manipulator to the original shape may be selected. This enables the operator to use an appropriate input method in accordance with the purpose of a medical procedure.