Variable View Endoscope with Robotic Holder
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Solution Overview
Problem
Existing endoscopic positioning systems have limited viewing range due to mechanical mobility being outside the inspection site and being designed for fixed-angle endoscopes, which restricts navigation and surgical precision in procedures like neuroendoscopy, sinoscopy, and otoscopy.
Innovation Solution
A system that combines a computer-controlled robotic endoscope holder with a variable direction of view endoscope, allowing remote control of the endoscope's movement and view vector, enabling precise navigation and 3D imaging by moving the viewing mobility to the endoscope tip and using a robotic arm with multiple degrees of freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a fixed-angle endoscope is used with a robotic positioning system, then the mechanical mobility can be controlled from outside the inspection site, but the viewing range is limited and navigation precision is reduced
Solution Approach 1:
The endoscope is transformed from a fixed-angle device to a dynamic variable-direction device. The distal tip of the endoscope can actively change its viewing angle in real-time, allowing the system to adapt to different inspection angles without requiring complex repositioning of the entire robotic arm, thus expanding the viewing range while maintaining remote control capability
Solution Approach 2:
The degrees of freedom are segmented between the robotic positioning system and the endoscope itself. The robotic arm provides positional control while the endoscope's distal tip provides directional control, dividing the navigation tasks between two independent control mechanisms to achieve both ease of operation and expanded viewing range
2Reliability
If the endoscope shaft is kept stationary to avoid patient injury, then patient safety is ensured, but the viewing range and navigation capability are limited
Solution Approach 1:
The endoscope's distal tip is made dynamically adjustable while the proximal shaft remains stationary. This allows the viewing direction to change actively at the tip without requiring movement of the shaft that could injure the patient, thus maintaining safety while improving navigation capability
Solution Approach 2:
The distal tip acts as an intermediary between the stationary shaft and the inspection target. It provides the necessary directional adjustment and adaptability while the shaft remains fixed in a safe position, mediating between the constraint of patient safety and the need for navigation capability
3Measurement precision
If a robotic endoscope holder with multiple degrees of freedom is used, then positioning precision is improved, but the system complexity increases
Solution Approach 1:
The control system is segmented into two independent parts: robotic positioning control and endoscope directional control. This segmentation allows each subsystem to be optimized independently, reducing the overall system complexity while maintaining high positioning precision through the coordinated action of both subsystems
Data Source
AI summary
A system and method for using a variable direction of view endoscope in conjunction with an electromechanical endoscope holder.