Helical Lumen Endoscope for Robotic Navigation and Ergonomics
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Solution Overview
Problem
Existing endoscopic devices suffer from poor ergonomics, limited navigation capabilities, and require manual actuation that is physically taxing for physicians, often necessitating support personnel for device operation and requiring fluoroscopy or CT scans for navigation.
Innovation Solution
A robotic-assisted surgical system with a robotic arm, mechanism changer interface, and instrument device manipulator that includes a drive unit, electromagnetic tracker, and helical lumen design for improved ergonomics and navigation, allowing for intuitive control and navigation within the body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual actuation of bending sections is used, then the endoscope can be controlled to navigate lumens, but the physician experiences poor ergonomics and physical strain
Solution Approach 1:
The patent replaces manual mechanical actuation with a robotic system that uses motors and drive units to articulate the endoscope. The robotic arm with instrument device manipulator eliminates the need for physicians to manually twist and bend the scope, substituting human mechanical effort with automated motorized control while maintaining the same articulation function.
2Ease of operation
If pull wires are used for articulation, then the endoscope can be steered, but curve alignment and muscling issues occur
Solution Approach 1:
The patent replaces the pull wire mechanism with a robotic drive system that uses motors and articulated sections. Instead of relying on tensioning wires that cause muscling and alignment problems, the system uses direct motorized actuation of bending sections, providing more reliable and predictable curve alignment while maintaining articulation control.
3Measurement precision
If fluoroscopy or CT scans are used for navigation, then the endoscope can reach desired locations, but the procedure complexity and time increase
Solution Approach 1:
The patent incorporates sensors and navigation systems that provide real-time feedback to the robotic control system. This allows the endoscope to automatically track and navigate to desired locations using feedback from position sensors and imaging systems, reducing the need for complex fluoroscopy or CT scan guidance while maintaining high navigation precision.
4Adaptability or versatility
If multiple levers and dials are provided for control, then various functionalities are available, but the device complexity increases
Solution Approach 1:
The patent integrates multiple functionalities into a single robotic control system. The instrument device manipulator serves multiple purposes: it articulates the endoscope, positions the distal section, and controls various operational functions through a unified robotic interface, eliminating the need for separate levers and dials while maintaining functional versatility.
Data Source
AI summary
An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.