Segmented Endoscope with Archimedes Screw Propulsion
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Solution Overview
Problem
Traditional endoscopes face difficulties in navigating through tight and tortuous channels due to friction and mechanical complexities, often getting stuck or requiring complex tendon systems or expanding balloon mechanisms that are inefficient.
Innovation Solution
A flexible articulable device employing multiple independent actuation units with segmented approaches for longitudinal and non-longitudinal locomotion strategies, including Archimedes screw-like propulsion and twisted string bending mechanisms, allowing for individual control of each segment and reduced friction through rotational motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If traditional endoscopes use a pushing action at the proximal end for longitudinal movement, then the endoscope can be advanced toward the distal end, but the endoscope often encounters obstacles or gets stuck even after relatively short travel distances
Solution Approach 1:
The endoscope is divided into multiple segments or actuation units that can be independently controlled. Each segment can perform localized locomotion actions, allowing the endoscope to navigate complex geometries by coordinating movements of individual segments rather than relying on a single pushing action from the proximal end.
Solution Approach 2:
The endoscope employs dynamic locomotion strategies where actuation units can switch between different movement modes (longitudinal and non-longitudinal) based on environmental conditions. This dynamic adaptability allows the endoscope to respond to obstacles and channel geometries in real-time, preventing it from getting stuck.
2Ease of operation
If endoscopes use tendons for active bending capabilities, then the endoscope can achieve non-longitudinal movement, but the transmission is difficult to use because of the complex behaviors of coupling tendons and internal friction
Solution Approach 1:
The patent replaces the traditional tendon-based mechanical bending system with embedded actuation units that directly generate bending moments. This substitution eliminates the need for complex tendon coupling mechanisms and reduces internal friction by using localized actuators (such as shape memory alloys or miniaturized motors) within each segment to achieve controlled bending.
3Ease of operation
If robot endoscopes use an expanding balloon type system to unravel inside a chamber, then the endoscope can be deployed, but it suffers from friction in tortuous chambers
Solution Approach 1:
Instead of using a single expanding balloon mechanism, the endoscope employs multiple segmented actuation units distributed along its length. Each segment can independently expand or adjust its configuration, allowing the endoscope to navigate tortuous chambers with reduced friction by adapting its shape locally rather than relying on a single large-scale expansion.
4Speed
If endoscopes employ inchworm like motions, then the endoscope can achieve locomotion, but it requires dragging tethers deep into the body
Solution Approach 1:
The patent replaces the tether-based inchworm locomotion mechanism with embedded actuation units that generate propulsion forces directly at each segment. This substitution eliminates the need for external tethers by using self-contained actuators (such as peristaltic movements or localized adhesion-release cycles) that enable locomotion without dragging tethers deep into the body.
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
Enables efficient navigation through arbitrary channels with reduced risk of getting stuck, allowing for longer travel distances and rapid retraction, suitable for various environments including human tissue and complex geometries.
Implementation Method 1
The first locomotion device may have the shape of and performs the function of an Archimedes screw.
Implementation Method 2
The second actuation unit may include a twisted string coupled at one end to a motor and at an opposite end to an inner wall or to another motor, where control of the motor is configured to control at least in part the shape of the second actuation unit, where the second actuation unit employs a twisted string bending mechanism.
Data Source
AI summary
Systems and methods are disclosed providing a flexible articulable device for accessing deep within tight and arbitrarily shaped channels of a body. The flexible or articulable device may employ two, independent locomotion strategies. These strategies can be combined or independently used. However, both strategies use a segmented approach that employs one or multiple embedded actuation units along the body of the device. The multiple embedded actuation units may be individually controlled, are generally connected serially, and generally uses one of the locomotion strategies. One strategy relates to propulsion while the other strategy relates to shape control.