Segmented Robotic Endoscope Locomotion for Colon Anchoring
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Solution Overview
Problem
Existing endoscopic devices face challenges in maneuvering through long, torturous, and compliant tubular structures, causing patient discomfort due to deformation and difficulty in advancing, and lack the ability to move both forward and backward effectively.
Innovation Solution
A robotic locomotive device with two or three segments, each capable of bending, contracting, and extending, utilizing an elastic material and actuation mechanism to anchor and steer within tubular structures, allowing forward and backward movement by alternately jamming segments between walls and adjusting diameter and stiffness for secure anchoring and smooth movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a flexible endoscope is pushed through the intestine, then the device can travel inside the human body, but the passively flexible part causes significant deformation of the intestine
Solution Approach 1:
The endoscope is divided into multiple rigid segments connected by articulation joints, replacing the traditional single flexible shaft. Each segment can be independently controlled to navigate tortuous paths while maintaining structural integrity and minimizing deformation of the intestine.
Solution Approach 2:
The device incorporates active articulation joints between segments that allow dynamic adjustment of the endoscope's configuration. This enables the device to adapt to tortuous intestinal paths through controlled segment movement rather than passive flexibility, reducing harmful deformations.
2Speed
If the flexible shaft is pushed to advance, then movement through the colon is achieved, but the flexible body causes loops to form and prevents distal end advancement
Solution Approach 1:
Dividing the shaft into controlled segments prevents uncontrolled looping by allowing each segment to be actively positioned. The articulation joints between segments maintain proper shaft configuration while enabling advancement through tortuous paths.
Solution Approach 2:
The device incorporates sensors and control systems that provide feedback on shaft configuration and position. This enables real-time adjustment of segment articulation to prevent looping and ensure smooth advancement through the colon.
3Measurement precision
If traditional endoscopes are used, then visualization is achieved, but the procedure is extremely uncomfortable for patients
Solution Approach 1:
The segmented rigid structure with controlled articulation provides stable visualization while minimizing harmful deformations of the intestine, thereby reducing patient discomfort compared to traditional flexible endoscopes.
Solution Approach 2:
The device changes the physical parameters of the endoscope from a continuously flexible shaft to discrete rigid segments with controlled joints. This parameter change maintains visualization quality while eliminating the harmful flexibility that causes patient discomfort.
4Adaptability or versatility
If the endoscope body is highly flexible, then it can easily travel inside the body, but the flexibility prevents effective steering and control
Solution Approach 1:
The segmented structure with articulation joints provides both ease of travel through tortuous paths and effective steering control. Each segment can be independently actuated to change direction, combining the adaptability of flexibility with the controllability of rigid structures.
Solution Approach 2:
The active articulation joints between segments enable dynamic steering control while maintaining the ability to navigate tortuous intestinal paths. The system transitions from passive flexibility to active adaptability, improving both travel ease and steering 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
The device provides a robust and efficient means of navigating tubular structures with minimal patient discomfort by ensuring secure anchoring and smooth movement, capable of both forward and backward motion, suitable for applications like colonoscopy.
Implementation Method 1
The elongate body is covered in an outer sleeve that is made of an elastic material. The diameter and stiffness of the outer sleeve change in dependence on movement of one or more of the segments in the first direction.
Data Source
AI summary
The present invention provides a robotic locomotive device that is capable of driving itself forwards and backwards, anchoring and steering itself whilst inside a tubular structure, for example, the human colon, or any structure comprising two opposing walls. In this respect, the device is made up of two or three segments covered in an elastic material and driven by an internal actuating mechanism. All of the segments have a concertina configuration that enable a shortening and lengthening motion. As well as contracting and extending in length, at least one of the end segments is capable of bending at an angle away from the longitudinal axis such that it becomes wedged or jammed between the walls of the tubular structure. That is, the end segments are capable of both a bending action and a contracting and extending action. The device moves by alternately jamming a segment between the walls of the tubular structure, and then contracting or extending the segments to inch the device forward with a more effective locomotive action. As such, the present invention provides a simplified design that is more robust to harsh or unclean environments, whilst still maintaining the level of performance required from such a device.