Robotic Endoscope Skid-Steering Traction
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Solution Overview
Problem
Current self-propelled endoscope devices face challenges such as looping during colonoscopy procedures, causing patient pain and inefficiency, and lack reliable navigation and therapeutic capabilities for gastrointestinal diseases like colorectal cancer.
Innovation Solution
A robotic endoscope device with a double worm drive mechanism and independently controlled motors for 2-degrees of freedom skid-steering, equipped with sensors and tools for autonomous navigation, disease detection, and therapeutic interventions, featuring a unique tread design with micropillared polydimethylsiloxane timing-belt style treads for improved traction on mucosal surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a manually pushed semi-rigid endoscope is used through the colon, then the procedure can be performed with simple device structure, but looping occurs causing patient pain and procedural inefficiency
Solution Approach 1:
The patent replaces the traditional mechanically pushed endoscope system with a robotic capsule endoscope that uses internal actuators and drive mechanisms for self-propulsion. The capsule contains motors, gear systems, and track assemblies that enable autonomous movement through the colon, eliminating the need for manual manipulation and preventing looping complications.
Solution Approach 2:
The robotic capsule employs dynamic control of its drive tracks and wheels to navigate the tortuous colon path. The system can adjust wheel speeds, directions, and track engagement dynamically to follow the colon's anatomy without creating loops, providing both structural simplicity and operational efficiency.
2Adaptability or versatility
If active propulsion robotic capsule endoscopes with various locomotion methods are used, then navigation capability is improved, but device complexity and reliability issues increase
Solution Approach 1:
The robotic capsule divides its locomotion system into independent driven wheels and track assemblies. Each wheel can be controlled independently with its own motor and gear system, allowing segmented control that simplifies the overall navigation complexity while maintaining high adaptability for navigating through the colon's varying anatomy.
3Device complexity
If a single drive shaft controls both upper and lower tracks, then device complexity is reduced, but control precision and ability to navigate tortuous paths is limited
Solution Approach 1:
The drive system is segmented into independent left and right drive shafts, each controlling its respective side's upper and lower tracks. This segmentation enables differential speed control and independent navigation decisions for each side, providing precise control for navigating tortuous colon paths while maintaining manageable device complexity through modular architecture.
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 device reduces procedural complexity, patient pain, and costs, enabling efficient visualization, biopsy, and therapeutic interventions in gastrointestinal procedures, including colonoscopy, while minimizing gear forces and radial moments, thus enhancing safety and effectiveness.
Implementation Method 1
a first worm gear threadably engaged with the right-handed spiraling of the first screw section of the first double worm drive shaft and engaged with a lower continuous track assembly, the first worm gear transmitting rotation of the first double worm drive shaft to rotation of the lower continuous track assembly
Implementation Method 2
featuring a unique tread design with micropillared polydimethylsiloxane timing-belt style treads for improved traction on mucosal surfaces
Data Source
AI summary
A self-propelled semi- or fully-autonomous robotic endoscope device is provided that include multi-degrees of freedom movement and may be sensor-enabled for colonoscopy procedures. The device may include two independently controlled motors configured to drive micro-pillared treads above and below the device, allowing for 2-degrees of freedom (DOF) skid-steering even in a collapsed lumen. The robotic device contains similar functionality of a traditional endoscope, such as a camera, adjustable LEDs, channels for insufflation and irrigation, and a tool port for common endoscopy instruments (e.g., forceps, snares, etc.).