Nested Rigidizing Endoscope Robotics to Prevent GI Looping
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Solution Overview
Problem
Medical instruments face challenges in advancing through curved or looped body cavities due to gastrointestinal looping, which prolongs procedures, causes pain, and increases the risk of perforations, especially during endoscopic procedures like colonoscopy and NOTES, affecting access to difficult anatomical locations.
Innovation Solution
The development of nested robotic systems with rigidizing devices that can transition between flexible and rigid configurations using pressure or vacuum, allowing precise control and navigation through complex anatomical regions by coordinating the movement of nested rigidizing members.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a flexible medical instrument is used to navigate through curved body cavities, then the instrument can conform to anatomical structures, but gastrointestinal looping occurs causing procedure prolongation and pain
Solution Approach 1:
The medical instrument incorporates a dynamically rigidizing structure that can transition between flexible and rigid states. The instrument is flexible during insertion to navigate curved anatomy, then rigidizes at the target location to prevent looping and enable precise control, resolving the contradiction between adaptability and procedure time
Solution Approach 2:
The instrument changes its physical parameter (rigidity) in response to environmental conditions (location within body cavity). The rigidizing mechanism activates when the instrument reaches the target anatomical location, transforming from a flexible state that allows navigation to a rigid state that prevents looping and reduces procedure time
2Measurement precision
If a rigid medical instrument is used to provide precise control, then tip control precision is improved, but the instrument cannot navigate through curved body cavities
Solution Approach 1:
The instrument dynamically adjusts its rigidity based on operational phase: flexible during navigation through curved anatomy, rigid when precise tip control is needed at the target location. This dynamic transition resolves the contradiction between navigability and control precision
Solution Approach 2:
The instrument is divided into segments with different mechanical properties. The proximal portion remains flexible for navigation while the distal portion can rigidize for precise control, allowing the instrument to simultaneously achieve both navigability and tip control precision
3Ease of operation
If the medical instrument is advanced through the gastrointestinal tract, then access to anatomical locations is achieved, but gastrointestinal looping causes pain and increased perforation risk
Solution Approach 1:
The instrument rigidizes dynamically upon reaching the target location to prevent looping, thereby reducing pain and perforation risk while maintaining ease of access to anatomical locations
Solution Approach 2:
The instrument proactively rigidizes at the target location to prevent the harmful effect of looping before it occurs, thereby preemptively reducing pain and perforation risk during the procedure
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 safer, more efficient, and precise access to challenging anatomical locations by preventing gastrointestinal looping and facilitating the advancement of medical instruments, reducing procedure duration and complications.
Implementation Method 1
The nested rigidizing members may be rigidized by the application of pressure (e.g., by the application of positive pressure or by the application of negative pressure)
Implementation Method 2
The nested rigidizing members may be rigidized by the application of pressure (e.g., by the application of positive pressure or by the application of negative pressure)
Data Source
AI summary
Nested robotic systems including rigidizing members that are configured to aid in transporting a scope, e.g., endoscope, or other medical instrument through a body. These apparatuses may include a first rigidizing device coaxially located relative to a second rigidizing device, a user-activated control for steering, advancing and/or retracting the systems, an actuator to enable axial movement and/or steering of the second rigidizing device, and a controller for coordinating the rigidity of the first and second rigidizing devices. The first and second rigidizing devices may be configured to be rigidized by the application of pressure and/or vacuum.