Robotic Endoscope Bending Section With Supported Pull-Wire Flexures
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Solution Overview
Problem
Existing endoscopes face challenges in navigating tortuous pathways while reaching hard-to-reach body cavities without kinking or prolapsing, and the high cost and complexity of reusable designs necessitate aggressive cleaning and sterilization, which can be harsh on the devices.
Innovation Solution
A flexible endoscope with a steerable bending section comprising axially or radially stacked composite components, including an inner and outer flexure, and integrated backbone components to provide structural support, allowing for improved maneuverability and reduced manufacturing costs through modular design and single-use disposability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If reusable endoscopes are designed to survive harsh cleaning and sterilization protocols, then reliability is improved, but device complexity increases
Solution Approach 1:
The patent applies disposable endoscopes that are single-use and do not require cleaning or sterilization. The endoscope is packaged in sterile wrappers and disposed of after one procedure, eliminating the complexity of designing for sterilization while maintaining reliability through proper single-use protocol
Solution Approach 2:
The endoscope is divided into separate components including a disposable flexible endoscope portion and a reusable robotic control system. The flexible endoscope with its camera and sensors is segmented from the handle and control mechanisms, allowing the flexible portion to be discarded after use while the robotic system is reused
2Ease of operation
If single-use disposable endoscopes are used, then ease of operation is improved, but manufacturing cost increases
Solution Approach 1:
The flexible endoscope is designed as a low-cost disposable component that can be manufactured economically through processes like 3D printing and injection molding. The single-use nature eliminates the need for expensive sterilization infrastructure and reduces overall system cost despite the disposable model
Solution Approach 2:
The patent changes the operational parameters by using pre-sterilized packaged endoscopes that are ready-for-use without requiring post-manufacturing sterilization. This parameter change from post-use sterilization to pre-use sterilization simplifies the manufacturing process and reduces costs
3Adaptability or versatility
If the bending section is made flexible to navigate tortuous pathways, then adaptability is improved, but reliability deteriorates due to kinking and prolapsing
Solution Approach 1:
The bending section uses composite construction with a flexible polymer outer layer over a structural inner core or reinforcement elements. This composite design provides both the flexibility needed to navigate tortuous airways and the internal support structure to prevent kinking and prolapsing during manipulation
Solution Approach 2:
Different sections of the endoscope have different mechanical properties: the bending section is highly flexible for navigation while other portions have varying degrees of rigidity. The bending section specifically incorporates localized reinforcement to prevent kinking while maintaining overall flexibility for navigating tortuous pathways
Data Source
AI summary
An articulating flexible endoscope is provided. The articulating flexible endoscope comprises: an elongated member extending between a distal end and a proximal end, where the elongated member comprises a bending section steerable by one or more pull wires. The bending section comprises at least an inner flexure placed inside an outer flexure. The inner flexure is formed with outer structures to provide structural support for the one or more pull wires upon assembly with the outer flexure.