Flexible Tube Insertion Apparatus with Variable Stiffness Control
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Solution Overview
Problem
Existing flexible tube insertion apparatuses face challenges in reducing external forces applied to insertion sections during deep tract insertion, potentially causing discomfort or damage to the insertion target body, as they lack effective control over bending stiffness to manage these forces.
Innovation Solution
A flexible tube insertion apparatus with variable stiffness portions, state detection sensors, shape and external force calculators, and a stiffness controller that adjusts the bending stiffness based on detected state information to keep external forces below a predetermined reference value, ensuring safer and more efficient insertion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the flexible tube is made stiff to maintain its shape during insertion, then the insertion control improves, but the external force applied to the insertion target body increases causing discomfort or damage
Solution Approach 1:
The flexible tube incorporates variable stiffness portions that can dynamically adjust their bending stiffness based on real-time feedback from shape and external force calculators. This allows the tube to be stiff when shape control is needed and flexible when external force reduction is prioritized, resolving the contradiction between insertion control and harm reduction
Solution Approach 2:
The bending stiffness parameter of the flexible tube is made changeable through variable stiffness portions actuated by control elements. The system modifies this parameter in response to calculated shape and external force information, enabling adaptive adjustment between rigidity for control and flexibility for reducing external force on the insertion target body
2Object-affected harmful factors
If the flexible tube is made flexible to reduce external force on the insertion target body, then comfort improves, but the insertion control and depth achievement deteriorate
Solution Approach 1:
The variable stiffness portions enable the tube to transition between flexible and stiff states dynamically during insertion. When approaching deep tract sections, the system increases stiffness for better control and depth achievement, then reduces stiffness when needing to minimize external force, thus resolving the contradiction between flexibility for comfort and stiffness for control
3Productivity
If the bending stiffness is increased to improve insertability in deep tracts, then insertion depth is achieved, but the external force exceeds safe limits causing potential damage
Solution Approach 1:
The system employs continuous feedback from state detection sensors that provide shape information and external force information to the stiffness controller. This feedback loop enables real-time monitoring and adjustment of bending stiffness to achieve insertion depth while preventing external force from exceeding predetermined safe limits, thus resolving the contradiction between depth achievement and safety
Solution Approach 2:
The bending stiffness parameter is dynamically adjusted based on the balance between achieving insertion depth and maintaining external force within safe limits. The variable stiffness portions enable this parameter change in response to real-time conditions, allowing the tube to be stiff enough for deep insertion while preventing excessive external force
Data Source
AI summary
A flexible tube insertion apparatus includes a flexible tube to be inserted into an insertion target body, a variable stiffness portion that changes a bending stiffness of the flexible tube, a state detection sensor that detects state information of the flexible tube. The apparatus also includes a shape calculator that calculates shape information regarding a shape of the flexible tube based on the state information, an external force calculator that calculates external force information including magnitude of an external force received by the flexible tube based on the state information, and a stiffness controller that controls the variable stiffness portion in accordance with the shape information so that the magnitude of the external force received by the flexible tube becomes smaller than a reference value.