Flexible Tube Insertion Apparatus with Variable Stiffness Control
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Solution Overview
Problem
Existing flexible tube insertion apparatuses face difficulties in efficiently changing the large intestine to a substantially straight state due to complex operations requiring significant training and causing patient distress from overextension, as they rely on combinations of push, pull-back, and twist operations with variable stiffness mechanisms that are not effectively controlled.
Innovation Solution
A flexible tube insertion apparatus with a stiffness variable unit that adjusts bending stiffness based on advance and retreat detection, using a coiled sheath member and wire mechanism to change stiffness in response to operator inputs, allowing the insertion section to be passively bendable or substantially straight, thereby simplifying the procedure and reducing patient discomfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If push operation is performed excessively to advance the insertion section, then the insertion section can be advanced toward the deep portion, but overextension occurs in the bent portion causing patient distress
Solution Approach 1:
The insertion section employs a variable stiffness mechanism that dynamically adjusts the bending stiffness of the insertion section based on the operational state. During push operation, the stiffness is reduced to allow passive bending and follow the natural curvature of the large intestine, preventing overextension. When pull-back operation is detected, the stiffness is increased to maintain a substantially straight state for efficient withdrawal.
Solution Approach 2:
The bending stiffness parameter of the insertion section is changed based on the detected operation type. The stiffness variable unit adjusts the stiffness parameter dynamically: lowering it during push operation to enable flexible navigation through bent portions, and raising it during pull-back operation to maintain straight configuration for efficient withdrawal.
2Object-affected harmful factors
If pull-back operation is performed early to avoid overextension, then patient distress is reduced, but the insertion section is withdrawn from the large intestine before it is changed to a substantially straight state
Solution Approach 1:
The system incorporates an operation detection unit that provides real-time feedback on the operation type (push or pull-back). Based on this feedback, the controller automatically adjusts the stiffness of the insertion section. This feedback mechanism allows the system to know when pull-back operation occurs and respond by increasing stiffness to maintain a substantially straight state, ensuring complete withdrawal while preventing overextension.
Solution Approach 2:
The insertion section automatically adjusts its own stiffness based on the detected operation type without requiring manual intervention. The stiffness variable unit responds autonomously to push or pull-back operations, making the insertion section self-regulating in its mechanical properties to prevent overextension while ensuring complete withdrawal.
3Ease of operation
If complex operation procedure combining push, pull-back, and twist operations is used to change the large intestine to a substantially straight state, then the insertion section can be advanced, but much training is required and the operator bears the burden
Solution Approach 1:
The system automatically performs the function of changing the large intestine to a substantially straight state by detecting pull-back operation and automatically increasing the stiffness of the insertion section. This eliminates the need for the operator to manually perform complex twist operations or precisely time pull-back actions, as the system self-adjusts its mechanical properties in response to detected operations.
Solution Approach 2:
The manual mechanical operations (twist operations and precisely timed pull-back actions) are replaced by an automated control system that detects operation type and adjusts stiffness accordingly. The controller system substitutes for the operator's complex manual manipulation, automatically managing the mechanical properties of the insertion section based on detected operational states.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The apparatus improves the smoothness of insertion by allowing the insertion section to be easily advanced and retreated while maintaining a substantially straight state, reducing the need for complex operations and training, and preventing overextension, thus enhancing operability and patient comfort.
Implementation Method 1
a coiled sheath member (51) incorporated into the insertion section (40), and a wire member (53) inserted through an inside of the sheath member (51)... The wire member (53) pulls the sheath member (51) toward the proximal end portion of the insertion section (40) by being pulled by the drive (70), and the sheath member (51) is contracted toward the proximal end portion of the insertion section (40) by being pulled by the wire member (53)
Data Source
AI summary
A flexible tube insertion apparatus includes an insertion section, a stiffness variable unit that changes a bending stiffness of the insertion section and a detection unit that detects an advance that is a movement toward a distal end of the insertion section and a retreat that is a movement toward a proximal end of the insertion section. A controller controls the stiffness variable unit to change the bending stiffness of the insertion section to a first bending stiffness when the detection unit has detected the advance of the insertion section, and that controls the stiffness variable unit to change the bending stiffness of the insertion section to a second bending stiffness higher than the first bending when the detection unit has detected the retreat of the insertion section.