Modular Continuum Endoscope Segmented Actuation
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Solution Overview
Problem
Current endoscope designs face challenges in maneuvering through the colon due to friction and reaction forces from Bowden cables, leading to incomplete colonoscopies and potential abrasion, as they require complex drive systems and cannot easily increase the number of bending segments, limiting the ability to view different angles and detect abnormalities.
Innovation Solution
A modular continuum robotic endoscope with multiple bending segments, each containing its own actuation motors, allowing for independent control and scalable length without increasing thickness, enabling more degrees of freedom to navigate complex colon paths with reduced force on the colon walls, using a central controller and segment controllers for coordinated bending motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple bending segments are added to increase navigation flexibility, then the ability to view different angles and navigate complex paths is improved, but the endoscope becomes thicker and more complex
Solution Approach 1:
The endoscope is divided into multiple modular bending segments, each with its own actuation motors and control systems. This segmentation allows the endoscope to achieve complex navigation paths through coordinated bending of individual segments, providing adaptability without requiring a single complex mechanism. Each segment can be independently controlled to navigate around obstacles and view different angles.
Solution Approach 2:
The patent introduces multi-axis bending capabilities by orienting modules along different axes (x-axis and y-axis bending). This dimensional approach allows the endoscope to navigate three-dimensional complex paths within the colon, achieving versatility in navigation by adding rotational degrees of freedom rather than simply increasing linear complexity.
2Ease of operation
If Bowden cables are used for actuation, then the system can be controlled from the proximal end, but friction and reaction forces increase making automation difficult
Solution Approach 1:
The patent replaces the traditional Bowden cable mechanical actuation system with distributed electric motors located at each bending segment. This substitution eliminates long control cables and their associated friction losses, allowing for more efficient actuation. The electric motors provide direct mechanical actuation at the point of need, reducing energy loss and enabling easier automation control.
3Area of moving object
If a single set of cables is used to create multiple bends, then the endoscope remains thinner, but the drive system at the proximal end becomes complex
Solution Approach 1:
Instead of using a single complex cable system at the proximal end, the patent segments the actuation system by placing small motors at each bending segment. This distributes the mechanical complexity along the length of the endoscope rather than concentrating it at one location, maintaining a thin profile while avoiding proximal drive system complexity.
Solution Approach 2:
Each bending segment is self-contained with its own actuation motor, allowing it to operate independently. This self-service approach eliminates the need for a complex centralized drive system that would coordinate multiple cables, simplifying the overall system architecture while maintaining a thin endoscope diameter.
4Speed
If actively grabbing the colon walls is used to move the endoscope, then progression through the colon is improved, but abrasion and tissue damage increase
Solution Approach 1:
The patent employs continuum bending segments that create smooth, curved paths rather than sharp angles or grabbing motions. The flexible, serpentine configuration allows the endoscope to navigate colon folds and turns through gentle bending, progressing through the colon without actively grabbing or scraping the tissue, thereby reducing abrasion and harmful effects.
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 modular design allows for easier navigation of convoluted paths, reduced force on colon walls, and improved detection of abnormalities by enabling various motion modes like follow-the-leader and uncoiling, enhancing the effectiveness of colonoscopy procedures.
Implementation Method 1
A module in each segment can include a motor connected to each module in the segment to control the angular displacement of each module within the segment
Data Source
AI summary
Robotic endoscopes have the potential to help endoscopists position tools during procedures, to propel the endoscope to the desired position, to automate functions and to prevent perforations during procedures. Modular architecture for a continuum robotic endoscope with multiple bending segments along the length of the endoscope. Each of the segments is modular, containing a set of actuation motors that drive short cables in the continuum segments.