Flexible Robotic Endoscopy Apparatus with Aligned Insertion Inlets
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Solution Overview
Problem
Current flexible robotic endoscopy systems face challenges in setup and assembly convenience, precision control, and reliable insertion of instruments due to inadequate consideration of the forces exerted on internal components during instrument insertion.
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 precise spatial and temporal control, along with a docking station and motorbox for actuation and control of flexible elongate assemblies, enabling quick and secure engagement and disengagement of instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If flexible endoscopic instruments are inserted into the flexible robotic endoscopy system, then the system can perform endoscopic procedures, but the forces exerted on internal portions during insertion compromise the ability to reliably control the end effector with maximum precision
Solution Approach 1:
The system is divided into separate modular components: a reusable flexible robotic endoscopy system and disposable flexible endoscopic instruments. This segmentation allows the精密 robotic control system to remain protected while enabling easy replacement of instruments without compromising control precision.
Solution Approach 2:
A coupling mechanism acts as an intermediary between the reusable endoscopy system and disposable instruments. This intermediary component ensures precise alignment and secure connection during instrument insertion, maintaining control precision while facilitating convenient instrument changes.
2Adaptability or versatility
If flexible endoscopic instruments are frequently inserted and removed for replacement, then instrument versatility is improved, but setup and assembly time increases
Solution Approach 1:
Disposable flexible endoscopic instruments are pre-packaged in sterile containers with pre-attached coupling mechanisms. This preliminary preparation eliminates the need for complex assembly steps during instrument replacement, reducing setup time while maintaining versatility.
Solution Approach 2:
The coupling mechanism incorporates dynamic elements that enable quick engagement and disengagement of instruments. The design allows for rapid connection and release actions, facilitating fast instrument replacement without compromising secure attachment during procedures.
3Productivity
If the flexible endoscopic system is designed for easy setup and disassembly, then operational convenience is improved, but control precision over robotic elements may be compromised
Solution Approach 1:
The system separates the high-precision reusable robotic control components from the disposable instrument components. This segmentation allows the control system to remain protected and precise while enabling rapid instrument changes, maintaining both reliability and productivity.
Solution Approach 2:
A specially designed coupling mechanism serves as an intermediary that ensures precise alignment and secure connection between the reusable system and disposable instruments. This intermediary component maintains control precision while facilitating quick instrument replacement.
Data Source
AI summary
An enhanced flexible robotic endoscopy apparatus includes a main body and flexible elongate shaft. The main body comprises a proximal end, a distal end and a housing that extends to the proximal end and the housing comprises a plurality of surfaces and a plurality of insertion inlets 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.