Flexible Tube Insertion Apparatus Buckling Prevention
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Solution Overview
Problem
The existing flexible tube insertion apparatuses face challenges in maintaining insertability into deep portions of the body, particularly due to buckling issues when the insertion section passes through bent portions, which reduces the propulsion force and increases the difficulty in advancing the distal end.
Innovation Solution
A flexible tube insertion apparatus with stiffness variable portions along its longitudinal direction, equipped with a detector to identify S-shaped buckling and a controller to adjust the stiffness of these portions to prevent buckling, ensuring efficient insertion by maintaining a substantially straight shape.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the insertion section is made flexible to pass through bent portions, then the ability to navigate curved anatomy is improved, but buckling occurs that reduces propulsion force and insertability
Solution Approach 1:
The insertion section is divided into multiple segments along its longitudinal direction, with each segment having different bending stiffness characteristics. This segmentation allows the distal end to be more flexible for navigating curves while the proximal end maintains higher stiffness for force transmission, preventing buckling during insertion.
Solution Approach 2:
Different portions of the insertion section are given different bending stiffness properties locally. The distal end portion has lower bending stiffness to accommodate curved anatomy, while the proximal end portion has higher bending stiffness to maintain structural integrity and transmit propulsion force effectively, resolving the contradiction between flexibility and force transmission.
2Length of moving object
If the insertion section is pushed forward to advance into deep portions, then insertion depth is improved, but the large intestine moves freely causing buckling that reduces insertability
Solution Approach 1:
By dividing the insertion section into segments with progressively different stiffness along its length, the system enables deeper insertion while maintaining operational ease. The segmented structure prevents buckling during the push operation by distributing mechanical stresses appropriately across different sections.
3Ease of operation
If the insertion section is divided into segments with different bending stiffness, then patient distress is reduced and insertability is improved, but device complexity increases
Solution Approach 1:
The insertion section is constructed as a segmented structure where each segment has different bending stiffness, allowing the device to navigate complex anatomy while maintaining patient comfort. The segmented design, though structurally complex, simplifies the operation by enabling natural buckling behavior that facilitates insertion rather than resisting it.
Data Source
AI summary
In a flexible tube insertion apparatus, at least one circuit determines whether an S-shape is formed in an insertion section based on a shape information of the insertion section detected by a detector, determines whether an intersection angle between an extension line of a central axis of the insertion section and a tangential line for the insertion section at an inflection point is enlarged or not based on the shape information, and determines whether or not the stiffness variable portions are provided in a position of the S-shape in the insertion section when it is determined that the S-shape is formed and the intersection angle is enlarged. A stiffness controller increases a stiffness of the stiffness variable portions included in the position of the S-shape in accordance with the determination of the circuit.