Shape Sensor Integration for Articulating Instrument Control
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Solution Overview
Problem
Current shape sensing technologies for articulating instruments and snake-like robots face challenges in integrating shape sensing devices effectively, particularly in systems that require coordinated use of shape information for control and operation, especially in complex medical and industrial applications.
Innovation Solution
Incorporating shape sensors such as optical, resistance changing flexible bands, bend sensors, or magnetic sensors along the elongate body of articulating instruments, which provide shape information to a controller that closes the control loop between user input and instrument movement, allowing for precise control and feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If shape sensors are integrated into articulating instruments, then measurement precision of instrument shape is improved, but device complexity increases
Solution Approach 1:
The shape sensor is integrated within the elongate body of the articulating instrument, with the sensor embedded in the structure rather than added as a separate external component. This nesting approach allows shape measurement capability while minimizing increase in overall device complexity and size.
Solution Approach 2:
The controller serves multiple functions: it receives shape information from the shape sensor, processes this data, and uses it to control the articulating segments. This multi-functionality reduces the need for separate dedicated control units, thereby managing system complexity while achieving precise shape measurement and control.
2Manufacturing precision
If shape sensors are integrated into articulating instruments, then control precision is improved, but ease of operation deteriorates
Solution Approach 1:
The system implements a closed-loop feedback control mechanism where the shape sensor continuously monitors the actual shape of the instrument, and the controller uses this feedback information to adjust the positioning of articulating segments. This feedback loop enables precise control while maintaining ease of operation through automatic adjustment.
Solution Approach 2:
The controller automatically processes shape information from the sensor and adjusts the instrument configuration without requiring manual intervention for calibration or adjustment. The system serves itself by autonomously interpreting sensor data and making control decisions, simplifying the operator's task while maintaining high precision.
3Adaptability or versatility
If multiple articulating segments are controlled, then adaptability is improved, but device complexity increases
Solution Approach 1:
The instrument is divided into multiple independently controllable articulating segments along the elongate body. Each segment can be controlled individually based on shape sensor feedback, enabling the instrument to adapt to complex geometries while the modular segmentation allows the control system to manage complexity through distributed control of discrete units.
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 precise control and feedback mechanisms for articulating instruments, ensuring accurate shaping and movement, even in complex environments like the human body, by integrating shape sensors that provide real-time shape data to the controller.
Implementation Method 1
the shape sensor is an optical shape sensor
Implementation Method 2
the shape sensor can be a resistance changing flexible band
Implementation Method 3
the shape sensor can be a magnetic sensor
Data Source
AI summary
A system for controlling movement of a remotely controlled steerable instrument may comprise a flexible instrument comprising a steerable portion configured to articulate to change a shape of the steerable portion. The system may also comprise a shape sensing device comprising a first resistance-changing flexible sensor. The first resistance-changing flexible sensor may be configured to generate a signal indicative of a first bend change in the steerable portion. The system may also comprise a controller in signal communication with the first resistance-changing flexible sensor. The controller may be logically coupled to the flexible instrument and is configured to output a control signal to articulate the steerable portion of the flexible instrument in response to receiving at least the signal from the first resistance-changing flexible sensor.