Robotic Endoscope Virtual Rail for Ergonomic Lumen Navigation
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Solution Overview
Problem
Existing endoscopic devices suffer from poor ergonomics, limited usability, and challenging navigation due to manual actuation requiring awkward hand and arm movements, necessitating support personnel for device operation, and often rely on fluoroscopy or segmented CT scans for guidance, particularly in small lumen navigation.
Innovation Solution
A robotic surgical system with a sheath and flexible endoscope mounted on robotic arms, allowing for controlled bending with a neutral axis and multiple degrees of freedom, enabling ergonomic control and navigation through the body's lumens using a virtual rail configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual actuation of endoscope bending sections is used, then the device can be operated with simple structure, but the ergonomics deteriorate requiring awkward hand and arm movements
Solution Approach 1:
The patent replaces manual mechanical actuation with a robotic system that uses motors and control algorithms to articulate the endoscope. The robotic arm with multiple DOF mechanically substitutes the physician's hand movements, eliminating awkward manual manipulation while maintaining precise control of the endoscope's bending sections.
Solution Approach 2:
The robotic arm serves as an intermediary between the control system and the endoscope. It translates high-level navigation commands into precise mechanical movements of the endoscope, mediating between the physician's intent and the actual device manipulation, thereby improving ergonomics without oversimplifying the overall system.
2Ease of operation
If support personnel are used to operate endoscopic devices, then the physician can maintain desired position, but the procedure requires additional personnel and coordination
Solution Approach 1:
The robotic system enables the endoscope to be operated autonomously without requiring support personnel. The system self-manages the articulation and positioning of the endoscope through automated control algorithms, eliminating the need for additional human operators while maintaining precise control and reducing operational complexity.
Solution Approach 2:
The robotic arm with its integrated control system replaces the human support personnel who would otherwise manually manipulate the endoscope. The automated mechanical system performs all necessary articulation and positioning tasks, substituting human operators with an autonomous robotic system that reduces coordination requirements.
3Measurement precision
If fluoroscopy or segmented CT scans are used for navigation, then the desired location can be reached, but additional imaging modalities are required increasing procedure complexity
Solution Approach 1:
The robotic system replaces external imaging modalities with an integrated navigation system that uses sensors, encoders, and control algorithms to track the endoscope's position and orientation. This internal mechanical and electronic navigation system substitutes fluoroscopy and CT scans, providing precise localization without additional imaging equipment.
Solution Approach 2:
The robotic control system acts as an intermediary between the endoscope and the navigation requirements. It incorporates sensors and feedback mechanisms that directly measure the endoscope's position, mediating the navigation function internally rather than relying on external imaging systems, thereby reducing procedural complexity while maintaining precision.
Data Source
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AI summary
Systems and methods for moving or manipulating robotic arms are provided. A group of robotic arms are configured to form a virtual rail or line between the end effectors of the robotic arms. The robotic arms are responsive to outside force such as from a user. When a user moves a single one of the robotic arms, the other robotic arms will automatically move to maintain the virtual rail alignments. The virtual rail of the robotic arm end effectors may be translated in one or more of three dimensions. The virtual rail may be rotated about a point on the virtual rail line. The robotic arms can detect the nature of the contact from the user and move accordingly. Holding, shaking, tapping, pushing, pulling, and rotating different parts of the robotic arm elicits different movement responses from different parts of the robotic arm.