Robotic Endoscope Drum Storage for Compact Coiling and Controlled Dispensing
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Solution Overview
Problem
The management and storage of elongate, flexible medical instruments such as endoscopes, catheters, and guidewires become unwieldy as their length increases, particularly in robotic systems, leading to procedural limitations and inefficiencies in storage and dispensing.
Innovation Solution
The development of apparatuses and methods that store these instruments in a compact, coiled configuration and dispense them in a linear orientation using a robotic drive system, allowing for controlled advancement and retraction through the use of a rotational motion, with features like securements, pivot arms, and drive systems to manage telescoping components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If elongate medical instruments are stored in a linear manner, then they are easy to access, but they occupy excessive space and become unwieldy as length increases
Solution Approach 1:
The patent applies curvature by storing the elongate medical instrument in a coiled configuration around a drum rather than in a linear arrangement. The coiled storage method transforms the linear instrument into a compact circular pattern, significantly reducing the space required while maintaining accessibility through rotational dispensing mechanisms.
Solution Approach 2:
The invention transitions from two-dimensional linear storage to three-dimensional coiled storage around a drum. By utilizing the radial dimension of the drum, the system packs the long instrument into a compact cylindrical volume, effectively converting linear space requirements into radial and axial dimensions that occupy less overall space.
2Area of stationary object
If elongate medical instruments are stored in a coiled configuration, then storage space is reduced, but dispensing and control become more complex
Solution Approach 1:
The drum acts as an intermediary mechanism between the coiled stored instrument and the linear dispensing path. It provides a structured interface that converts rotational motion into controlled linear advancement, simplifying the overall dispensing process while maintaining compact storage. The drum's rotation serves as the mediating action that enables precise control without complex mechanisms.
Solution Approach 2:
The system employs dynamic control where the drum can rotate to dispense the instrument and rotate in reverse or hold position to retract or maintain instrument length. This dynamic rotational capability allows flexible control of the elongate instrument during procedures, enabling advancement, retraction, and positioning without complex mechanical systems.
3Extent of automation
If robotic systems are used to advance and retract elongate instruments, then procedural control is improved, but management in crowded operating rooms becomes more difficult
Solution Approach 1:
The system segments the robotic control functions into separate modular components: the drum mechanism for advancement/retraction, the robotic arm for positioning, and the controller for coordination. This segmentation allows each component to be optimized independently and simplifies management in the operating room by distributing control across multiple manageable subsystems rather than one complex integrated system.
Solution Approach 2:
The drum mechanism serves multiple functions: storing the instrument in a compact coiled state, dispensing it in a controlled manner during procedures, and retracting it when not in use. This multi-functionality reduces the need for separate devices for storage and dispensing, simplifying overall system management in the operating room while maintaining automated procedural control.
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 approach enables efficient, compact storage and controlled deployment of elongate medical instruments, facilitating their use in complex anatomical navigation and reducing operational challenges in medical procedures.
Implementation Method 1
The drive system is configured to rotate the frame relative to the exit guide, such that rotation of the frame relative to the exit guide results in translation of the robotic scope out of the exit guide
Data Source
AI summary
Apparatuses and methods for storing and dispensing elongate, flexible, medical instruments, such as endoscopes, may be configured for rotary storage and dispensing, which provides substantial advantages in space management. In particular, described herein are systems for storing and dispensing a robotic scope that include a rotatable frame to which a robotic scope (e.g., endoscope, including a nested system) may be coupled for dispensing.