Flexible Medical Manipulator Wire Tension Control for Force Sensing
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Solution Overview
Problem
Existing motorized endoscopes struggle to accurately detect and respond to external forces on the bending section of the distal end, potentially causing damage to biological tissues due to excessive loads.
Innovation Solution
A control device that measures wire tension at the proximal end to maintain a set bend angle, allowing detection of external forces by controlling wire pull or loosen within a specific range, using a processor to manage the driving device and sensors to ensure accurate force detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the endoscope uses a tension sensor to detect load and drives the wire to reduce the load, then the risk of excessive load on biological tissue is reduced, but the ability to accurately detect external forces on the bending section is insufficient
Solution Approach 1:
The patent introduces a wire as an intermediary element that transmits external forces from the distal end bending section to the proximal end where sensors are located. By measuring tension changes in this intermediary wire, the system can indirectly detect external forces acting on the bending section with high precision, while still maintaining safety through load reduction control.
2Stability of the object's composition
If the wire is pulled to maintain bend angle, then the bend angle stability is improved, but the detection range for external forces is limited
Solution Approach 1:
The patent employs dynamic control of wire tension by adjusting the pull amount based on detected external forces. The wire tension is dynamically modified within a range that maintains the bend angle while adapting to different external force conditions, enabling both stability and broad detection range through real-time adjustments.
3Measurement precision
If the wire tension is increased to improve detection sensitivity, then the external force detection sensitivity is improved, but the risk of tissue damage increases
Solution Approach 1:
The patent implements a feedback control system where wire tension is continuously adjusted based on detected external forces and bend angle measurements. The driving device receives feedback from sensors and dynamically modifies wire tension to maintain optimal detection sensitivity while preventing excessive loads on biological tissue, thus resolving the contradiction between sensitivity and safety.
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
Enables quick and precise detection of external forces on the endoscope's bending section, preventing damage to biological tissues and maintaining image stability during insertion or withdrawal.
Implementation Method 1
a sensor that measures tension of the wire at a proximal end of the medical manipulator
Data Source
AI summary
The present invention provides a control device that controls a driving device connected to a proximal end of a flexible medical manipulator. The driving device drives at least one wire for bending a bending section at a distal end of the medical manipulator. Tension of the wire is measured at the proximal end. The control device includes at least one processor. In a state where a bend angle of the bending section is set to a certain angle, the processor is configured to control the driving device to pull or loosen the wire within a range in which the bend angle is maintained at the certain angle to detect an external force acting on the bending section based on a change in the tension of the wire.