Flexible Manipulator Variable Pitch Lumen Curvature Adaptation
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Solution Overview
Problem
Flexible manipulators used in medical technology face issues with path length differences and increased friction when curved, leading to unintended movement of the movable portion, which existing spiral lumen designs with fixed twisting pitch cannot adequately address without compromising control properties.
Innovation Solution
A flexible manipulator with an elongated portion having multiple paths, a curvature length measuring portion, and a curvature length adjusting portion that adjusts the curvature near the base end to maintain a predetermined length, reducing path length differences and minimizing friction by dynamically adjusting the curvature to match the insertion path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the insertion portion is curved, then the flexible manipulator can navigate complex anatomical paths, but path length differences occur between multiple lumens causing unintended movement of the movable portion
Solution Approach 1:
The patent applies dynamics by making the twisting pitch of the spiral lumens variable rather than fixed. The twisting pitch is dynamically adjusted based on the curvature radius of the insertion portion, allowing the lumens to adapt to different curvature conditions and maintain equal path lengths throughout the curved path.
Solution Approach 2:
The patent changes the geometric parameter of the spiral lumens by varying the twisting pitch according to the curvature radius. This parameter adjustment ensures that lumens with different radii from the center axis all have equal path lengths when the insertion portion is curved, resolving the path length difference problem.
2Manufacturing precision
If the twisting pitch of spiral lumens is reduced to minimize path length differences, then positioning accuracy improves, but friction between lumens and power transmission wires increases
Solution Approach 1:
The patent applies local quality by making different sections of the insertion portion have different twisting pitches. Sections with smaller curvature radii have smaller twisting pitches to maintain path length equality, while sections with larger curvature radii have larger twisting pitches to reduce friction. This localized adaptation optimizes both positioning accuracy and friction reduction in different regions.
3Device complexity
If a fixed twisting pitch is used in spiral lumens, then device complexity is reduced, but the manipulator cannot adequately address path length differences with varying curvature lengths
Solution Approach 1:
The patent transforms the static fixed twisting pitch into a dynamic variable twisting pitch that adapts to different curvature conditions. This dynamic configuration allows the same manipulator design to handle various curvature lengths and radii effectively, significantly improving adaptability while maintaining reasonable device complexity through systematic design.
Data Source
AI summary
The technology disclosed herein is directed to a flexible manipulator used to prevent a loss of control of a movable part by reducing the friction applied to the power transmission member and to be able to suppress the occurrence of a path length difference of a plurality of power transmission members with regard to various curvature length of an insertion part. The flexible manipulator includes an elongated member formed in the shape of a long flexible tube and having two or more paths that pass through in a longitudinal direction on the outside in the radial direction with regard to a center axis. Respective movable and driving parts is disposed on respective tip and base ends of the elongated member. Power transmission members are arranged to pass through the path of the elongated member and that transfer the power of the driving part to the movable part.