Flexible Tube Insertion Support with Force Feedback
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Solution Overview
Problem
The insertion of flexible tubes into the large intestine, particularly in the sigmoid colon, often results in loop formations that increase insertion difficulty and cause patient pain, and existing methods rely on operator judgment for twisting operations to eliminate loops, which can be painful due to variable resistance sensing.
Innovation Solution
A flexible tube insertion support apparatus equipped with external force detectors that generate and output propriety information on twisting operations, helping to determine appropriate force quantities and prevent excessive force application, thereby aiding in maintaining a linear state without causing patient discomfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a twisting operation is performed to eliminate loop sections and linearize the flexible tube, then insertion difficulty is reduced and the tube can progress into deep parts, but the large intestine may stretch causing patient pain
Solution Approach 1:
The system uses external force detectors to monitor resistance in real-time during twisting operations, providing feedback to the operator about the force being applied. This allows the operator to adjust the twisting force to eliminate loops while avoiding excessive force that would stretch the large intestine and cause patient pain.
Solution Approach 2:
The system calculates and provides linearization operation methods before the operator performs twisting operations. By analyzing the current tube configuration and predicting the optimal twisting directions and sequences, the system enables the operator to eliminate loops efficiently while avoiding harmful stretching of the large intestine.
2Productivity
If excessive quantity of twisting force is applied to rapidly eliminate the loop section, then insertion progress is accelerated, but the large intestine is overloaded causing patient pain
Solution Approach 1:
The external force detectors continuously monitor the resistance during twisting operations, providing real-time feedback to prevent excessive force application. This feedback mechanism allows rapid loop elimination while maintaining force within safe limits to avoid overloading the large intestine and causing patient pain.
Solution Approach 2:
The system applies twisting force in controlled increments rather than single excessive applications. By breaking down the loop elimination process into multiple smaller twisting actions with monitoring between them, the system achieves rapid overall progress while preventing any single action from causing harmful stretching.
3Device complexity
If an operator relies on tactile sense of resistance to determine when to perform twisting operations and when excessive force is applied, then no additional equipment is needed, but the determination is difficult especially for inexperienced operators
Solution Approach 1:
The system replaces the operator's tactile sensing mechanism with electronic external force detectors that objectively measure resistance. These detectors provide precise quantitative data about the force being applied and the resistance encountered, eliminating the subjectivity and inexperience-related errors associated with tactile sensing while maintaining operational simplicity.
Solution Approach 2:
The system introduces an intermediary calculation and display unit that processes the raw data from external force detectors and presents it in an easily interpretable format. This intermediary layer translates complex force measurements into clear guidance for operators, making precise resistance measurement accessible even to inexperienced users without adding significant complexity to the overall system.
Data Source
AI summary
A flexible tube insertion support apparatus includes a generation section configured to generate propriety information regarding a propriety of a twisting operation of a flexible tube in accordance with a force quantity of an external force applied to the flexible tube when the flexible tube is twisted in a counterclockwise direction or a clockwise direction around a central axis of the flexible tube. The external force is detected by at least one external force detector that is disposed on the flexible tube to be inserted into the subject and configured to detect the external force. The flexible tube insertion support apparatus also includes an output section configured to output the propriety information generated by the generation section.