Robotic Endoscope Steering with Image-Based Feedback
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Solution Overview
Problem
Current endoscopy procedures for bladder cancer surveillance are burdensome due to manual articulation challenges, limited field-of-view, and reliance on clinician expertise, leading to increased procedure times and costs.
Innovation Solution
An image-based feedback endoscopy system with a steering apparatus using servomotors, a miniature laser-scanning fiber endoscope, and an image-based feedback algorithm for automated, comprehensive imaging of the bladder, enabling real-time 3-D mosaicking and reduced clinician oversight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual articulation of endoscope is used, then device complexity is reduced, but ease of operation deteriorates and procedure time increases
Solution Approach 1:
The patent replaces manual mechanical articulation with an automated robotic steering system that uses image-based feedback algorithms to control endoscope movement. The robotic system substitutes the clinician's manual manipulation with computer-controlled actuators that navigate the endoscope based on real-time image analysis, thereby improving ease of operation while managing device complexity through automation.
Solution Approach 2:
The patent implements an image-based feedback mechanism where the system continuously monitors endoscopic images and uses this feedback to automatically adjust the endoscope's position and orientation. The feedback loop processes visual information to generate steering commands, enabling the endoscope to navigate autonomously based on real-time imaging data, thus enhancing operational ease.
2Productivity
If manual endoscope manipulation is used, then device complexity is reduced, but productivity deteriorates due to increased procedure time
Solution Approach 1:
The patent replaces manual endoscope manipulation with an automated robotic steering system that uses image-based feedback algorithms to control endoscope movement. The robotic system substitutes the clinician's manual manipulation with computer-controlled actuators that navigate the endoscope based on real-time image analysis, thereby improving ease of operation while managing device complexity through automation.
Solution Approach 2:
The patent enables continuous automated imaging and navigation through the robotic system that operates without interruption once initiated. The image-based feedback algorithm continuously processes visual data and adjusts the endoscope position in real-time, maintaining continuous useful action throughout the procedure, thereby increasing productivity by eliminating idle manual adjustment periods.
3Measurement precision
If limited field-of-view endoscope is used, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent overcomes the limited field-of-view constraint by introducing a third dimension through robotic articulation. Instead of relying solely on a wide-angle lens, the system uses multi-axis robotic control to position the endoscope tip at various angles and depths, effectively expanding the observable volume. This dimensional approach allows comprehensive imaging of the bladder interior despite the inherent limitations of the endoscope's optical field-of-view.
Solution Approach 2:
The patent replaces manual endoscope manipulation with an automated robotic steering system that uses image-based feedback algorithms to control endoscope movement. The robotic system substitutes the clinician's manual manipulation with computer-controlled actuators that navigate the endoscope based on real-time image analysis, thereby improving ease of operation while managing device complexity through automation.
4Productivity
If automated imaging system is implemented, then productivity is improved, but device complexity increases
Solution Approach 1:
The patent integrates multiple functions into a single robotic endoscope system, including steering, imaging, and automated navigation capabilities. The robotic platform serves multiple purposes: it positions the endoscope, provides real-time image feedback, and executes automated imaging sequences. This multi-functionality consolidates what would otherwise require separate devices, thereby improving productivity while managing overall device complexity through integration.
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 system provides comprehensive, efficient bladder imaging with high-resolution, wide-field-of-view images, reducing procedure time and costs by automating the process and allowing for clinician review of stitched images or video data for diagnosis.
Implementation Method 1
The endoscope includes a piezo actuator, a scanning fiber, a lens assembly, and collection fibers
Implementation Method 2
a miniature laser-scanning fiber endoscope
Data Source
AI summary
The image-based feedback endoscopy system includes a steering apparatus having a base platform, a pair of servomotors, a rigid tube, and a biasing member. A flexion member has a tether member and a ball screw, the tether member being in communication with the biasing member. The image-based feedback endoscopy system further includes an endoscope having a tip. The endoscope is positioned through the concentric spring such that the tip extends from the biasing member. The endoscope is in communication with the flexion member such that the endoscope is selectively movable by the pair of servomotors selectively controlling the flexion member. The endoscope includes a piezo actuator, a scanning fiber, a lens assembly, and collection fibers. The image-based feedback endoscopy system also includes an image based feedback algorithm, which selectively controls the operation of the pair of servo motors.