Steerable Endoscope with Dynamic Curve Propagation
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Solution Overview
Problem
The insertion of standard colonoscopes through the tortuous and convoluted path of the colon is challenging due to friction buildup and increased force against the colon wall, making it difficult to advance and withdraw the scope, and increasing the risk of complications such as intestinal perforation.
Innovation Solution
A steerable endoscope with a manually or selectively steerable distal portion and an automatically controlled proximal portion, equipped with a fiberoptic imaging bundle, illumination fibers, and instrument channels, allows for selective steering and curve propagation along the endoscope body to navigate tortuous paths, reducing friction and force on the colon wall.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a standard colonoscope is advanced through the tortuous colon, then the colonoscope can reach the target area for examination, but friction builds up at each turn making it more difficult to advance and withdraw the scope
Solution Approach 1:
The colonoscope employs dynamic curve propagation where the scope can be steered to create curves that propagate along its length as it advances. The distal portion can be selectively steered to bend up to 180 degrees, and this curve is automatically propagated proximally along the scope body, allowing the scope to dynamically adapt its shape to the tortuous colon path rather than forcing a straight configuration through friction-resistant means
Solution Approach 2:
The system changes the geometric parameters of the colonoscope by selectively bending the distal portion to different angles and directions. The scope can be steered to create curves with varying radii and orientations, transforming from a straight rigid structure to a flexible configuration that matches the colon's anatomy, thereby reducing friction force during advancement
2Ease of operation
If the colonoscope is steered through tortuous paths, then navigation through the colon is improved, but the force against the colon wall increases
Solution Approach 1:
The system performs preliminary steering actions at the distal end of the scope to establish the desired curve before full advancement. By pre-bending the distal portion to match the target path and then propagating this curve proximally, the scope prepares its configuration in advance, allowing smooth navigation through tortuous sections without sudden forceful maneuvers that would increase wall stress
3Productivity
If the colonoscope is advanced farther into the colon, then more of the colon can be examined, but it becomes more difficult to advance and withdraw the scope
Solution Approach 1:
As the scope advances farther into the colon, the dynamic curve propagation system continuously adapts the scope's configuration to match the encountered anatomy. Multiple curves can be propagated along the scope body, creating a segmented curved profile that follows the tortuous path. This dynamic adaptation prevents friction buildup even at greater insertion depths, maintaining ease of operation throughout the entire examination coverage
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 steerable endoscope facilitates easier navigation through tortuous body paths, reducing the risk of complications and improving the efficiency of colonoscopic procedures by maintaining selected curves along the endoscope body, allowing for more effective advancement and withdrawal without excessive force.
Implementation Method 1
A fiberoptic imaging bundle and one or more illumination fibers extend through the body from the proximal end to the distal end
Data Source
AI summary
A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.