Two-Stage Bronchoscope Segmented Design for Narrow Airway Access
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Solution Overview
Problem
Current bronchoscopes, including robotic ones, have limitations in accessing and maneuvering through the narrow bronchial pathways of the lungs due to their minimum diameter and limited flexibility, making it difficult to reach and treat lung diseases in the outer third of the lungs, where many lung disorders occur.
Innovation Solution
A two-stage bronchoscope design with a narrower distal stage capable of navigating smaller diameters, combined with robotic control for precise articulation and steering, allowing for greater flexibility and maneuverability, including the use of tensioning actuators and rotating steering cables to navigate through the intricate bronchial tree without damaging vascular structures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If a bronchoscope with minimum diameter of 3.5 to 4.2 mm is used, then the device has sufficient structural strength and stability, but it cannot access the narrow bronchial pathways in the outer third of the lungs
Solution Approach 1:
The bronchoscope is divided into multiple articulation sections with flexible joints, allowing the device to be segmented into controllable segments that can navigate narrow pathways while maintaining overall structural integrity through the articulated design
Solution Approach 2:
A second narrower stage bronchoscope is nested within the first stage bronchoscope, enabling the system to access bronchi smaller than 3 mm by deploying the narrower stage through the larger stage, thus achieving smaller effective diameter while maintaining structural support from the outer stage
2Stability of the object's composition
If a bronchoscope with large articulation radius is used, then the device has stable structure, but it has limited flexibility to navigate twisting bronchial pathways
Solution Approach 1:
The bronchoscope is divided into multiple articulation sections with flexible joints, allowing each section to independently articulate and adapt to the twisting geometry of bronchial pathways while maintaining overall structural stability through the connected segments
Solution Approach 2:
The bronchoscope transitions from a rigid structure to a dynamic articulated structure where multiple sections can move relative to each other, enabling the device to adapt its shape to navigate complex bronchial pathways while maintaining structural integrity through controlled articulation
3Ease of operation
If manual manipulation is used, then the device is simple to operate, but it lacks precision and control for navigating intricate bronchial tree
Solution Approach 1:
Sensors are integrated into the bronchoscope to provide real-time feedback on position, articulation angle, and navigation status, allowing the operator to precisely control the device's movement through the bronchial tree with accurate positional awareness and controlled articulation
Solution Approach 2:
Manual mechanical manipulation is supplemented or replaced with motorized actuators and robotic control systems that provide precise positioning and controlled articulation, replacing manual dexterity with automated precision while maintaining operator control through electronic interfaces
Data Source
AI summary
System and method for using processor-controlled actuators to drive multi-stage catheter devices configured to navigate through complex narrow tissue openings such as lung bronchi pathway openings. The device comprises a proximal catheter portion containing a hollow torque shaft, with a distal catheter portion connected to the proximal portion by a rotatable coupler connected to this hollow shaft. The distal position of the proximal catheter can be controlled by independently controlled proximal stage steering cables positioned outside of the shaft, and the shaft itself can be used to rotate the distal catheter about the rotatable coupler. The position of the distal end of the distal catheter can be further controlled by distal stage steering cables positioned inside of the hollow shaft. The device is tipped by a tool plate, which can be equipped with various sensors and other instruments, connected to the outside via other conduits.