Variable Stiffness Flexible Tube Insertion Apparatus
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing flexible tube insertion apparatuses, such as endoscopes, face challenges in optimizing insertability due to inconsistent bending stiffness, which affects the ability to navigate through complex bodily structures effectively.
Innovation Solution
A flexible tube insertion apparatus with a variable stiffness unit that adjusts its stiffness based on detected reaction forces, using a shape detector to identify bent shapes and specify maximum reaction force positions, allowing the stiffness controller to increase stiffness in specific segments for improved insertability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the bending stiffness of the insertion section is made uniform throughout, then the structure is simple and reliable, but the insertability is poor when navigating complex bodily structures
Solution Approach 1:
The insertion section is divided into multiple segments along its length, with each segment capable of independent stiffness adjustment. This segmentation allows different regions to have different bending stiffness characteristics, improving the ability to navigate complex bodily structures while maintaining overall system manageability through modular control.
Solution Approach 2:
The bending stiffness of the insertion section is made dynamically adjustable rather than fixed. The stiffness can be changed in real-time based on the insertion state and reaction forces detected during navigation, allowing the system to adapt to varying anatomical conditions and improve insertability without requiring a completely complex redesign.
2Force
If the stiffness of the insertion section is increased to improve propulsive force, then the ability to advance through bodily structures is improved, but the flexibility and ability to navigate turns is reduced
Solution Approach 1:
Different segments of the insertion section have different stiffness characteristics tailored to their specific functions. Segments requiring high propulsive force have increased stiffness, while segments needing flexibility for navigation have lower stiffness. This local differentiation allows simultaneous optimization of both propulsive capability and navigational flexibility.
Solution Approach 2:
The stiffness of each segment can be dynamically adjusted based on real-time detection of reaction forces and insertion state. When encountering resistance, the system can increase stiffness in specific segments to maintain propulsive force, while keeping other segments flexible for navigation, thus resolving the contradiction between force and flexibility.
3Adaptability or versatility
If the bending stiffness is dynamically adjusted during insertion, then the adaptability to different anatomical conditions is improved, but the control complexity and response time are increased
Solution Approach 1:
The system incorporates detection of reaction forces and insertion state as feedback to the control system. This feedback enables automatic adjustment of stiffness in response to actual anatomical conditions encountered during insertion, improving adaptability while using the detected information to guide control decisions and reduce unnecessary complexity.
Solution Approach 2:
The physical parameter of bending stiffness is changed dynamically based on detected reaction forces and insertion state. By adjusting stiffness as a key parameter in response to real-time conditions, the system achieves high adaptability to different anatomical structures while using a relatively straightforward parameter-change approach rather than complex mechanical reconfiguration.
Data Source
AI summary
A flexible tube insertion apparatus includes a flexible insertion section to be inserted into a subject and bent by a reaction force from the subject, a variable stiffness unit provided in the insertion section and configured to change a stiffness of the insertion section, and a shape detector configured to detect a bent shape of the insertion section. The apparatus further includes a force specifier configured to acquire a distribution of the reaction force on a distal side from a predetermined point in the bent shape and specify a maximum reaction force position, and a stiffness controller configured to control a stiffness of the variable stiffness unit so as to increase a stiffness of the variable stiffness unit between the predetermined point and the maximum reaction force position.