Flexible Tube Insertion Apparatus with Variable Stiffness Control
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Solution Overview
Problem
Existing flexible tube insertion apparatuses face challenges in transmitting force to the distal end due to buckling, which reduces insertability into deep portions of the large intestine, and existing solutions either increase bending stiffness uniformly or use overtubes, causing patient distress or decreased operability.
Innovation Solution
A flexible tube insertion apparatus with segments of varying stiffness, a detection unit, a bending information calculator, and a controller that adjusts stiffness in real-time based on detected bends to maintain a substantially straight state, improving force transmission and insertability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the bending stiffness of the insertion section is uniformly increased, then the insertion section maintains a substantially straight state and force is easily transmitted to the distal end, but the large intestine may be extended excessively causing distress to the patient
Solution Approach 1:
The insertion section is divided into multiple segments along its longitudinal axis, with each segment having independently adjustable bending stiffness. This allows different portions of the insertion section to have different stiffness characteristics, enabling force transmission in straight portions while maintaining flexibility in portions that need to follow the natural contours of the large intestine, thereby avoiding excessive extension and patient distress.
Solution Approach 2:
The bending stiffness of each segment is made dynamically adjustable rather than fixed. The controller can change the bending stiffness of individual segments in real-time based on the detected shape and position of the insertion section, allowing the system to adapt to varying anatomical conditions and optimize both force transmission and patient comfort throughout the insertion process.
2Force
If an overtube is used to maintain the insertion section in a substantially straight state, then force transmission is improved, but the outer diameter increases causing increased patient distress and decreased operability
Solution Approach 1:
Instead of using a rigid overtube that increases outer diameter, the invention employs dynamically adjustable bending stiffness within the insertion section itself. This allows the insertion section to maintain a substantially straight state when needed for force transmission, while avoiding the increased outer diameter and associated patient distress and operability issues that would result from using an overtube.
3Shape
If manual procedures are used to relieve buckling (pull-back operation, twist, or manual pressure), then the buckling part becomes substantially straight, but the operator needs to perform complex operations that decrease operability
Solution Approach 1:
The detection unit continuously monitors the shape and position of the insertion section, providing real-time feedback to the controller. When buckling is detected, the controller automatically adjusts the bending stiffness of the affected segments to eliminate the buckling and maintain a substantially straight state, removing the need for complex manual operations by the operator and significantly improving ease of operation.
Solution Approach 2:
The insertion section has the capability to automatically detect and correct its own buckling through the integrated detection unit and controller that adjusts bending stiffness. This self-service functionality eliminates the need for the operator to perform manual pull-back operations, twists, or apply manual pressure, thereby decreasing operator burden and improving operability.
4Object-affected harmful factors
If the insertion section is made flexible to navigate the large intestine, then patient distress is reduced, but the hand side force cannot be easily transmitted to the distal end due to buckling
Solution Approach 1:
The insertion section is divided into multiple segments with independently controllable bending stiffness, allowing different portions to have different mechanical properties. This enables the insertion section to be flexible where needed to navigate the large intestine and reduce patient distress, while maintaining sufficient stiffness in other portions to transmit hand side force to the distal end effectively.
Solution Approach 2:
The bending stiffness of each segment is dynamically adjustable, allowing the system to optimize the balance between flexibility for navigation and stiffness for force transmission. The controller can increase stiffness in segments where force transmission is needed while maintaining flexibility in segments that need to conform to the anatomical structure, thereby resolving the contradiction between patient comfort and force transmission capability.
Data Source
AI summary
A flexible tube insertion apparatus includes an insertion section, one or more stiffness variable portion, and a detection unit. The flexible tube insertion apparatus includes a bending information calculator, a main determiner, and a controller that performs control to increase a stiffness of the stiffness variable portion provided in a segment located in a bent part, when the main determiner determines that the bent part is present and the segment provided in the stiffness variable portion is located in the bent part.