Stepped Chip-in-Tip Endoscope Shaft for Robotic Stability
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Solution Overview
Problem
Existing chip-in-tip endoscopes used in robotic surgery systems face limitations in flexibility and mechanical stability due to their fixed diameter, which hinders precise and rapid surgical interventions.
Innovation Solution
The endoscope shaft is divided into a distal and proximal section, with the proximal section having a diameter at least 40% greater than the distal section, allowing for a total length of up to 600 mm, enabling secure robotic manipulation and image transmission without optical relays, and incorporating relay electronics for high signal quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the endoscope shaft has a small diameter to enable insertion through standard trocar tubes, then the flexibility and insertability are improved, but the mechanical stability and stiffness deteriorate
Solution Approach 1:
The shaft is divided into two distinct sections: a distal section with smaller diameter (≤5.5mm) for insertion through standard trocar tubes, and a proximal section with larger diameter (≥8.8mm) for mechanical stability during robotic manipulation. This segmentation allows each section to fulfill its specific functional requirement independently.
Solution Approach 2:
Different diameter specifications are applied to different sections of the shaft based on local functional requirements. The distal section has optimized small diameter for flexibility and insertability, while the proximal section has optimized large diameter for stiffness and robotic control, creating local quality variations along the shaft.
2Strength
If the endoscope shaft has a large diameter to provide mechanical stability for robotic manipulation, then the strength and stability are improved, but the flexibility and ease of insertion deteriorate
Solution Approach 1:
The shaft is segmented into distal and proximal sections with different diameter characteristics. The proximal section's larger diameter provides the necessary mechanical stability for robotic arm manipulation, while the distal section's smaller diameter maintains flexibility for navigation through body cavities.
Solution Approach 2:
The shaft exhibits local quality variations with the proximal section optimized for structural strength and the distal section optimized for flexibility, allowing the endoscope to simultaneously achieve both mechanical stability and flexibility through spatial differentiation.
3Ease of manufacture
If the endoscope uses a fixed diameter shaft design, then the manufacturing simplicity is maintained, but the adaptability for different surgical applications deteriorates
Solution Approach 1:
Rather than using a single fixed-diameter shaft, the design segments the shaft into two diameter zones, enabling the endoscope to adapt to different surgical requirements: the smaller distal section allows insertion through standard 5mm trocar tubes while the larger proximal section provides stability for robotic manipulation.
Solution Approach 2:
The shaft design implements local quality differentiation with specific diameter specifications for different sections, allowing the endoscope to fulfill multiple functional requirements simultaneously and adapt to various surgical applications involving robotic systems.
4Length of moving object
If the endoscope shaft is made long to achieve deep insertion into body cavities, then the insertion length is improved, but the mechanical stability and control precision deteriorate
Solution Approach 1:
The long shaft is segmented into a distal section for insertion and a proximal section for control. The proximal section's larger diameter provides a stiff anchor point for robotic manipulation, while the distal section extends deeply into body cavities, maintaining overall mechanical stability despite the total length of up to 600mm.
Solution Approach 2:
The shaft exhibits local quality variations along its length, with the proximal section optimized for structural stability and the distal section optimized for deep insertion capability, allowing the endoscope to achieve both long insertion length and mechanical stability through spatial differentiation.
Data Source
AI summary
A multistep shaft system 2 for a chip-in-tip endoscope 1 is provided, such that the endoscope 1 can be precisely positioned in space by a surgery robot 11. In this case, the shaft 2 provides a small shaft diameter in a distal section 4 in order to extend the possibilities for use of this endoscope 1. Depending on the length of the entire shaft 2, it is also possible to configure an electronic relay circuit 23, preferably in a proximal section 5 of the endoscope shaft 2, in order to ensure a sufficient signal quality for the then long signal transmission path.