Insertion System Attitude Shape Calculation Using Fiber and Inertial Sensors
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Solution Overview
Problem
Existing insertion systems face challenges in accurately detecting the attitude and bend shape of insertion apparatuses, particularly in medical and industrial applications, due to limitations in detecting rotational and directional changes, which affects the precision and operability of these systems.
Innovation Solution
The insertion system incorporates a combination of attitude detectors such as gravity sensors, gyro sensors, and terrestrial magnetism sensors, along with a fiber sensor, to detect and calculate attitude information, including rotational and directional changes, and combines this data with bend shape detection to provide accurate attitude shape information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If only fiber sensors are used to detect bend shape, then the device structure is simple, but the measurement precision of attitude information is insufficient
Solution Approach 1:
The patent combines multiple types of sensors (fiber sensors for bend detection, gravity sensors for orientation, gyro sensors for rotational velocity, and terrestrial magnetism sensors for absolute orientation) into an integrated sensor system. This merging approach allows the system to overcome the limitations of individual sensors and achieve comprehensive, high-precision attitude detection by fusing data from multiple sensing modalities.
Solution Approach 2:
The sensor system is designed to perform multiple detection functions simultaneously: bend shape detection, orientation detection, rotational velocity detection, and absolute direction detection. This multi-functionality allows a single integrated system to provide complete attitude information without requiring separate specialized systems for each measurement type.
2Measurement precision
If multiple attitude detectors are combined, then the measurement precision of attitude information is improved, but the device complexity increases
Solution Approach 1:
The patent implements a feedback mechanism where the control section receives detection results from all attitude detectors, processes this information, and uses it to control the insertion section. The system continuously monitors and adjusts based on real-time attitude information, creating a closed-loop control system that improves precision while managing complexity through systematic information processing.
Solution Approach 2:
The control section acts as an intermediary that receives, integrates, and processes data from multiple heterogeneous sensors (fiber sensors, gravity sensors, gyro sensors, terrestrial magnetism sensors). This intermediary component coordinates the information from different sensor types and generates unified control commands, thereby managing the complexity of the multi-sensor system.
3Reliability
If fiber sensors are used to detect bend shape, then the insertion section flexibility is maintained, but the reliability of attitude information is insufficient
Solution Approach 1:
The patent divides the insertion section into multiple segments along its longitudinal axis, with attitude detectors arranged at different positions and orientations. Fiber sensors are embedded within the insertion section structure, while gravity sensors, gyro sensors, and terrestrial magnetism sensors are positioned at strategic locations. This segmentation allows comprehensive coverage of the insertion section's attitude changes without compromising flexibility.
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
This solution enhances the accuracy and reliability of attitude detection, improving the operability and precision of insertion systems by providing real-time, highly accurate attitude information, even in complex environments.
Implementation Method 1
a fiber sensor arranged in the insertion section and configured to detect a bend shape of a desired shape detection range of the insertion section
Implementation Method 2
at least one attitude detector arranged in the insertion apparatus and configured to detect at least one of a first rotational change quantity related to a change quantity of rotation about an axis in a longitudinal direction
Data Source
AI summary
An insertion system includes an insertion apparatus including an insertion section, a fiber sensor configured to detect a bend shape of the insertion section, an attitude detector, and an attitude shape calculator. The attitude detector is configured to detect at least one of a first rotational change quantity related to a change quantity of rotation about a longitudinal direction of the insertion apparatus, and a first directional change quantity related to a change quantity of the longitudinal direction. The attitude shape calculator is configured to calculate attitude shape information including at least one of a change quantity of rotation of the bend shape and a change quantity of a direction of the bend shape, based on the bend shape and the at least one of the first rotational change quantity and first directional change quantity.