Flexible Tube Stiffness Control for Colonoscopy Buckling
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Solution Overview
Problem
Flexible tube insertion apparatuses face challenges in navigating the curved and dynamic environment of the large intestine due to uniform changes in flexural stiffness, leading to buckling and reduced insertability, especially in areas like the sigmoid colon.
Innovation Solution
A flexible tube insertion apparatus with a stiffness control system that detects buckling and enhances the stiffness of specific portions of the tube after a pulling operation, using shape memory members and inducing members to adjust stiffness, allowing for improved navigation through the intestinal tract.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the flexural stiffness of the insertion section is uniformly enhanced, then force transmission in the insertion direction is improved, but the insertion section cannot change shape according to the bend state in the intestinal tract, causing it to come to a standstill and excessively extend the sigmoid colon
Solution Approach 1:
The insertion section is divided into multiple segments along its length, with each segment having independently adjustable flexural stiffness. This segmentation allows different portions of the tube to have different stiffness characteristics, enabling force transmission in some segments while allowing shape adaptation in others.
Solution Approach 2:
The flexural stiffness of each segment is made dynamically adjustable rather than fixed. By changing the stiffness characteristics in real-time based on the insertion state and intestinal tract configuration, the system can optimize both force transmission and shape adaptation capabilities during the insertion process.
2Ease of operation
If the flexural stiffness of the insertion section is uniformly changed, then insertability is improved in some areas, but the insertion section may come to a standstill in the sigmoid colon and excessively extend it
Solution Approach 1:
Different segments of the insertion section are assigned different flexural stiffness characteristics tailored to their specific functional requirements. Segments requiring force transmission have higher stiffness, while segments needing to conform to intestinal bends have lower stiffness, optimizing both insertability and stability in different regions.
Solution Approach 2:
The flexural stiffness parameter of each segment is made variable and can be adjusted dynamically during insertion. This allows the system to adapt stiffness parameters to match the mechanical requirements of different intestinal tract segments, improving overall insertion performance and reliability.
3Force
If an overtube with different material quality is attached to enhance flexural stiffness, then force transmission is facilitated, but the complexity of the device increases
Solution Approach 1:
The stiffness control functionality is integrated directly into the insertion section itself through embedded stiffness control units, rather than adding a separate overtube. This merging of functions reduces device complexity while achieving the same force transmission enhancement.
Solution Approach 2:
The insertion section is equipped with self-contained stiffness control units that can independently adjust the flexural stiffness of each segment. This self-service capability eliminates the need for external overtubes or additional complexity, as the tube regulates its own mechanical properties.
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 effectively prevents buckling and enhances insertability by dynamically adjusting the stiffness of the tube, reducing resistance and improving the ability to advance deeper into the intestinal tract while minimizing patient discomfort.
Implementation Method 1
each of the plurality of stiffness changing devices (82) includes a shape memory member (442) capable of transitioning in phase between a first phase and a second phase
Data Source
AI summary
A flexible tube insertion apparatus includes: a flexible tube; a stiffness control system configured to control a stiffness of the tube; a buckling detection system configured to detect occurrence of a buckling in the tube; a pulling operation detection system configured to detect that a pulling operation of the tube is performed, after detection of the occurrence of the buckling; and a storage configured to store position information of a stiffness-to-be-enhanced portion of the tube neighboring a buckling portion of the tube and located on a distal side of the buckling portion. The stiffness control system is configured to enhance a stiffness of the stiffness-to-be-enhanced portion, based on the position information, at detection of the pulling operation.