COMPLIANT MECHANISM FOR SIMULATING ENDOSCOPY

Abstract

The present disclosure discloses a compliant mechanism (100) for application of radial resistance on a simulation endoscope (101). The mechanism (100) comprises a support plate (102), a ring member (103) rotatably mounted on the support plate (102) and a plurality of flexible beam assemblies (104) configured in an inner circumference of the ring member (203). The plurality of flexible beam assemblies (104) comprises a first beam (104a) connectable to the ring member (203) and a second beam (104b) connectable to the support plate (102). the circular motion of at least one of the support plate (102) and the ring member (103). relative to each other, moves the plurality of flexible beam assemblies (104) radially inward and radially outward to selectively apply radial resistance on the simulation endoscope (301). The complaint mechanism (100) of present disclosure are joint less mechanisms which are free from backlash and friction in joints.

Claims

1. A compliant mechanism (100) for application of radial resistance on a simulation endoscope (101), the mechanism (100) comprising: a support plate (102): a ring member (103) rotatably mounted on the support plate (102); a plurality of flexible beam assemblies (104) configured in an inner circumference of the ring member (103). wherein, each of the plurality of flexible beam assemblies (104) comprises: a first beam (104a) connectable to the ring member (103): and a second beam (104b) connectable to the support plate (102): wherein, circular motion of at least one of the support plate (102) and the ring member (103). relative to each other, moves the plurality of flexible beam assemblies (104) radially inward and radially outward to selectively apply radial resistance on the simulation endoscope (101).

2. The mechanism (100) as claimed in claim 1, wherein the radial resistance is applied on the simulation endoscope (101) when the plurality of flexible beam assemblies (104) moves radially inward.

3. The mechanism (100) as claimed in claim 1, wherein the ring member (103) is mounted on the support plate (102) through a bearing (105).

4. The mechanism (100) as claimed in claim 3, wherein an outer race of the bearing (105a) is fixed to the support plate (102) and an inner race of the bearing (105b) accommodates the ring member (103).

5. The mechanism (100) as claimed in claim 1, wherein free ends of the first beam (104a) and the second beam (104b) of each of the plurality of flexible beam assemblies (104) are interconnected to form a support region (106).

6. The mechanism (100) as claimed in claim 5 comprises a gripping pad (107) provisioned on the support region (106).

7. The mechanism (100) as claimed in claim 1, wherein the plurality of flexible beam assemblies (104) are equidistantly spaced to form a circular supporting region (106) in the ring member (103).

8. The mechanism (100) as claimed in claim 1 comprises an actuator (108) coupled to the ring member (103), wherein the actuator (108) is configured to impart circumferential actuation to the ring member (103).

9. The mechanism (100) as claimed in claim 8, wherein the circumferential actuation causes rotary movement of the ring member (103)

10. The mechanism (100) as claimed in claim 1, wherein the radial outward movement of at least one of the plurality of flexible beam assemblies (104) impart circumferential motion to the ring member (103).

11. The mechanism (100) as claimed in claim 8 comprises a sensor coupled to the actuator (108).

12. The mechanism (100) as claimed in claims 10 and 11, wherein the sensor is configured to sense the magnitude of radially outward movement of the at least one of the plurality of flexible beam assemblies (104).

13. An endoscopy simulation device comprising a mechanism (100) as claimed in claim 1.

Description

BRIEF DESCRIPTION OF THE ACCOMPANYING FIGURES

[0019] The novel features and characteristic of the disclosure are set forth in the appended claims. The disclosure itself, however, as well as a preferred mode of use, further objectives, and advantages thereof, will best be understood by reference to the following detailed description of an illustrative embodiment when read in conjunction with the accompanying figures. One or more embodiments are now described, by way of example only, with reference to the accompanying figures wherein like reference numerals represent like elements and in which: FIG. 1 illustrates a perspective view of a compliant mechanism for applying radial resistance on a simulation endoscope, according to some embodiment of the present disclosure.

[0020] FIG. 2 illustrates a front view of the ring member and flexible beam assemblies of the complaint mechanism of FIG. 1, according to some embodiment of the present disclosure.

[0021] FIG. 3 and FIG. 6 illustrate front view of the ring member and the flexible beam assemblies of complaint mechanism of FIG. 2 showing the movement of flexible beams in radially inward and radially outward directions respectively, according to some embodiment of the present disclosure.

[0022] FIG. 4a and FIG. 4b illustrate schematic front view and perspective views of ring member with flexible beam assemblies of the complaint mechanism of FIG. 1, according to an alternate embodiment of the present disclosure.

[0023] FIG. 5 illustrates a front view of the ring member and flexible beam assemblies of the complaint mechanism of FIG. 2 mounted on support plate through a bearing.

[0024] FIG. 6 illustrates a schematic representation of a device for simulating endoscopy with a compliant mechanism of FIG. 1.

[0025] FIG. 7 is an exemplary embodiment of the present disclosure showing the device for simulating endoscopy, in accordance with some embodiments of the present disclosure.

[0026] The figures depict embodiments of the disclosure for purposes of illustration only. One skilled in the art will readily recognize from the following description that alternative embodiments of the structures and methods illustrated herein may be employed without departing from the principles of the disclosure described herein.

DETAILED DESCRIPTION

[0027] The foregoing has broadly outlined the features and technical advantages of the present disclosure in order that the detailed description of the disclosure that follows may be better understood. Additional features and advantages of the disclosure will be described hereinafter which form the subject of the claims of the disclosure. It should be appreciated by those skilled in the art that the conception and specific embodiment disclosed may be readily utilized as a basis for modifying or designing other device for carrying out the same purposes of the present disclosure. It should also be realized by those skilled in the art that such equivalent constructions do not depart from the scope of the disclosure as set forth in the appended claims. The novel features which are believed to be characteristic of the disclosure, both as to its organization and method of operation, together with further objects and advantages will be better understood from the following description when considered in connection with the accompanying figures. It is to be expressly understood, however, that each of the figures is provided for the purpose of illustration and description only and is not intended as a definition of the limits of the present disclosure.

[0028] While the disclosure is susceptible to various modifications and alternative forms, specific embodiment thereof has been shown by way of example in the drawings and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the spirit and the scope of the disclosure.

[0029] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a setup, device or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus proceeded by “comprises . . . a” does not, without more constraints, preclude the existence of other elements or additional elements in the system or apparatus.

[0030] Embodiments of the present disclosure relate to a compliant mechanism for application of radial resistance on a simulation endoscope.

[0031] The present disclosure discloses a compliant mechanism, which transmits and transform motion/force using elastic deformation. Compliant mechanisms provide an advantage over conventional rigid body mechanisms as they are free from backlash, play, and friction in joints. With these features, compliant mechanism of the present disclosure may be used in medical applications in medical devices such as haemostats, forceps etc. In an embodiment, the mechanism may be worked with all the standard endoscopes.

[0032] The present disclosure discloses a compliant mechanism for application of radial resistance on a simulation endoscope. The mechanism comprises a support plate to provide support to different components of the mechanism. Further, there is a ring member in the mechanism which is rotatably mounted on the support plate. The ring member may be circumferentially actuated to transmit motion or force to elastic members of the compliant mechanism. In an embodiment, the elastic members may be a plurality of flexible beam assemblies configured in an inner circumference of the ring member. In one embodiment, the plurality of flexible beam assemblies comprises a first beam and a second beam. The first beam may be connectable to the ring member and a second beam connectable to the support plate. The circumferential actuation of the ring member moves the plurality of flexible beam assemblies radially inward and radially outward to selectively apply radial resistance on the simulation endoscope. In an embodiment, application of the radial resistance on the simulation endoscope is required to simulate the force condition when the endoscope encounters sphincter muscle in a body of the subject. The mechanism of the present disclosure, thus by providing haptic feedback assists in 15 training for insertion of an endoscope into oesophagus instead of the trachea. In some embodiments, the ring member of the mechanism is mounted on the support plate through a bearing. The outer race of the bearing is fixed to the support plate and an inner race of the bearing accommodates the ring member.

[0033] Further, in an embodiment, free ends of the each of plurality of flexible beam assemblies are interconnected to form a support region. The free ends of the plurality of flexible beam assemblies are also provided with gripping pads, to support simulation endoscope entering the support region. In some embodiments, the mechanism comprises an actuator coupled to the ring member to impart circumferential actuation to the ring member. The circumferential actuation to the ring member rotates the ring member which causes radially inward movement of the plurality of flexible beam assemblies. The mechanism is also configured with a sensor coupled to the actuator. The sensor is configured to sense the magnitude of displacements of a plurality of flexible beam assemblies when they move in a radially outward direction. Thus, the complaint mechanism of the present disclosure may be capable of achieving reversible actuation between circumferential and radial directions to provide continuous haptic feedback during the simulation.

[0034] Henceforth, the present disclosure is explained with the help of figures of the compliant mechanism. However, such exemplary embodiments should not be construed as limitations of the present disclosure. A person skilled in the art can envisage various such embodiments without deviating from the scope of the present disclosure.

[0035] FIG. 1 is an exemplary embodiment of the present disclosure, illustrating perspective view of a compliant mechanism (100) for applying radial resistance on a simulation endoscope (101). The compliant mechanism (100) of the present disclosure, provides haptic feedback to a user during simulation of endoscopy. In some embodiment, the mechanism (100) may be configured to apply radial resistance on simulation endoscope, to simulate the condition of encountering sphincter muscle during insertion of the endoscope in the throat of the human body. The complaint mechanism (100) may apply a resistive force on the simulation endoscope (101) radially to simulate the insertion of simulation endoscope into the sphincter muscle such as oesophagus or food pipe. In an embodiment, the complaint mechanism (100) of the present disclosure may be used in a device for simulating endoscopy for training the practitioners. The compliant mechanism (100) of the present disclosure is configured to transmit and transform motion/force using elastic deformation. The motion or force using elastic deformation is transmitted to a plurality of flexible beam assemblies (104) configured in an inner circumference of a ring member (103) of the mechanism (100). The mechanism (100) comprises a support plate (102) to provide support to various components of the mechanism (100). In an embodiment, the support plate (102) may be configured as an upright vertical plate to provide support to other components of the mechanism (100). The support plate (102) may be made of a metallic material or a polymeric material of sufficient strength and pre-defined thickness. As shown in FIG. 1, the support plate (102) is further adjoined to a base plate (109) configured horizontally to provide support to components to be mounted on ground level. The mechanism (100) comprises a ring member (103) rotatably mounted on the support plate (102). In one embodiment, the ring member (103) is made of a polymeric material to serve its purpose. However, one should not construe type of material of the ring member (103) as a limitation, as the ring member (103) may be made of materials other than polymeric material. In an embodiment, the term ring member (103) used herein above and below refers to a circular ring- like structure having a predetermined thickness and diameter.

[0036] The compliant mechanism (100) further comprises a plurality of flexible beam assemblies (104) configured in an inner circumference of the ring member (103). In an embodiment, the flexible beam assemblies (104) may be made of a material such as polymeric material, as that of the ring member (103), where the beam assemblies (104) are configured as an integral part of the ring member (103). In another embodiment, the plurality of flexible beam assemblies (104) may be made of a material different from the ring member (103). The beam assemblies (104) are made flexible such that the beam assemblies (104) move radially inward and outward exhibiting elastic deformation to transmit force to the simulation endoscope. In some embodiments of the disclosure, each of the plurality of flexible beam assemblies (104) further comprises a first beam (104a) and a second beam (104b). The first beam (104a) is connectable to the ring member (103) and the second beam (104b) is connectable to the support plate (102).

[0037] Further, the mechanism (100) comprises an actuator (108) to actuate the ring member (103). The actuator (108) may be a motor, or a hydraulic or a pneumatic actuator. The actuator (108) may impart circumferential motion to the ring member (103). In an embodiment, the output shaft of the actuator (108) may be coupled to a capstan roller which is in turn coupled to the ring member (103) to transmit power from the actuator (108) to the ring member (103) to apply circumferential motion to the ring member (103). The ring member (103) further converts this circumferential motion into radial motion of the plurality of flexible beam assemblies (104).

[0038] In an embodiment, the plurality of flexible beam assemblies (104) is configured to apply radial resistance on the endoscope (101) to simulate the condition of encountering sphincter muscle such as but not limited to food pipe in the throat.

[0039] Referring now to FIG. 2, which illustrates a front view of the ring member (103) and the flexible beam assemblies (104) of the complaint mechanism (100). The ring member (103) constitutes a part of the mechanism (100) which may be configured to transmit input motion or force to the plurality of flexible beam assemblies (104). The plurality of flexible beam assemblies (104) further offers resistive force on the simulation endoscope (101) during its insertion into the throat. In an embodiment, the number of flexible beam assemblies (104) in the mechanism (100) are at least two in number to offer resistive force on the simulation endoscope (101).

[0040] As shown in FIG. 3, when the circumferential motion or force is applied on the ring member (103) through the actuator (108), the ring member (103) rotates in one direction for example in counter clock-wise direction. The rotational motion of the ring member (103) results in radial inward movement of the plurality of flexible beam assemblies (104). The radial inward motion of the plurality of flexible beam assemblies (104) is achieved by fixing the second beam (104b) of each of the plurality of flexible beam assemblies (104) to the support plate (102), and the first beam (104a) of each of the plurality of flexible beam assemblies (104) to the ring member (103). When the ring member (103) rotates the first beam (104a) of each of the flexible beam assembly move with respect to the corresponding second beam (104b) of each of the flexible beam assembly (104). In one embodiment, there may be a power source such as a battery (not shown in the figure) to supply the necessary power to the actuator (108) which applies torque to the ring member (103) to achieve circumferential motion. In an embodiment, the mechanism (100) may be configured to apply a minimum force of 5N (5 Newton) on the simulation endoscope (101). Thus, the input torque applied through the actuator (108) that produces 5N contact force should be within the maximum torque developed by the actuator (108) of 170 mN.m (milli Newton meter).

[0041] Referring back to FIG. 2, the plurality of flexible beam assemblies (104) are arranged circularly in the form of a polar array. Each of the plurality of flexible beam assemblies (104) comprises a first beam (104a) and a second beam (104b). The first beam (104a) is connectable to the ring member (103) and the second beam (104b) is connectable to the support plate (102). In an embodiment, the second beam (104b) is connected to the support plate (102) through a fastener such as but not limiting to pin. The first beam (104a) and the second beam (104b) are configured in a curved shape projecting radially inward forming a common joining point. The joining point of the first beam and second beam of each of the plurality of flexible beams (104) is configured as support region (106), and at least one gripping pad (107) is provided at the support region (106).

[0042] The gripping pads (107) are configured to hold and support the simulation endoscope (101) during its insertion. In an embodiment, the plurality of flexible beam assemblies (104) may be made of pre-determined dimensions. The dimensions may be selected based on the force to be applied to the simulation endoscope (101).

[0043] Now referring to FIG. 4a and FIG. 4b which illustrates an alternate configuration of the flexible beam assemblies. As shown in FIG. 4a and FIG. 4b, a first beam (104a) of the plurality of flexible beams (104) is connected to the ring member (103) and a second beam (104b) is connected to a support member (102). In an embodiment, the support member (102) may be configured as a ring and may be coupled to at least one actuator. When the ring member (103) is circumferentially actuated, the ring member (103) and the support member (102) move relatively to each other and causes the radial inward motion of the plurality of flexible beam assemblies (104) for applying radial resistance on the simulation endoscope (101). Although, the different structural design of the flexible beam assemblies (104) are depicted, functions of beam assemblies (104) remain the same and are configured to apply radial resistance on the simulation endoscope. However, it is to be understood that a person skilled in the art may design the flexible beam assemblies (104) in a way different from as depicted in FIG. 4a and FIG. 4b without altering the scope of its purpose. The present disclosure is intended to cover all such variations and thus the design of flexible beam assemblies (104) depicted in FIG. 4a and FIG. 4b should not be construed as a limitation.

[0044] FIG. 5 is an exemplary embodiment of the present disclosure, illustrating mounting of the ring member (103) on the support plate (102) through a bearing (105). As shown in FIG. 5, an outer race of the bearing (105a) is fixed to the support plate (102) and an inner race of the bearing (105b) accommodates the ring member (103). The bearing (105) is configured to maintain planarity condition of the compliant mechanism (100), ensuring a reduction in tilting of the mechanism (100) during its operation. In an embodiment, a deep groove ball-bearing may be used to constrain axial drift of the mechanism (100). The bearing (105) allows smooth circumferential motion of the mechanism (100), with restriction in axial drift. Thus, the mechanism (100) is planar, compliant and it has no axial drift.

[0045] In an embodiment, the mechanism (100) may also be configured to measure the magnitude of displacement of the flexible beams (104) when a simulation endoscope (101) is inserted. To measure the same, the mechanism (100) comprises a sensor (not shown in the figure) attached to an output shaft of the actuator (108). When the simulation endoscope (101) is inserted into the mechanism (100), the plurality of flexible beams (104) move in the radially outward direction [shown in FIG. 6]. This results in rotation of the ring member (103) in other direction for example in a clockwise direction. This rotation of the ring member (103) may be sensed by the sensor to measure the magnitude of displacements. Thus, the displacements sensed, measures displacement input by the user which is sensed accurately.

[0046] FIG. 7 is an exemplary embodiment of the present disclosure showing the device (110) for simulating endoscopy, in accordance with some embodiments of the present disclosure. The device (110) for simulating endoscopy comprises the simulation endoscope (101), and guide member (208) supported on a support frame (214). The compliant mechanism (100) is provided at the entrance of the guide member (208) and is configured to apply radial resistance on the simulation endoscope (101) to simulate the condition corresponding to encountering of the sphincter muscle. The device (110) is also configured to simulate the linear and rotary motion of the simulation endoscope (101). In an embodiment, the device (110) may comprise a rotary actuator provisioned in the guide member (208), and mounted on a carriage (211) of the device (110). The rotary actuator is configured to apply torque on the simulation endoscope (101) to simulate the rotational movement of the simulation endoscope (101). Further, the device (110) comprises at least one linear actuator or a rotary actuator mounted on the support frame (214) and is coupled to the carriage (211). The at least one linear actuator or a rotary actuator is configured to move the carriage (211) linearly on the support frame to simulate the linear movement of the simulation endoscope (101).

[0047] It is to be understood by a person of ordinary skill in the art would do various modifications and variations without departing from the scope of the present invention. Therefore, it is intended that the present disclosure covers such modifications and variations provided they come within the ambit of the appended claims and their equivalents.

[0048] Equivalents:

[0049] With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations may be expressly set forth herein for sake of clarity.

[0050] It will be understood by those within the art that, in general, terms used herein, and especially in the appended claims (e.g., bodies of the appended claims) are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation, no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to inventions containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should typically be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should typically be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, typically means at least two recitations or two or more recitations). Furthermore, in those instances where a convention analogous to “at least one of A, B, and C, etc.” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, and C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). In those instances where a convention analogous to “at least one of A, B, or C, etc.” is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., “a system having at least one of A, B, or C” would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms or both terms. For example, the phrase “A or B” will be understood to include the possibilities of “A” or “B” or “A and B.”

[0051] While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims.

REFERRAL NUMERALS

[0052]

TABLE-US-00001 Reference Number Description 100 Compliant mechanism 101 Simulation endoscope 102 Support plate 103 Ring member 104 Flexible beam assemblies 104a First beam 104b Second beam 105 Bearing 105a Outer race of the bearing 105b Inner race of the bearing 106 Support region 107 Gripping pad 108 Actuator 109 Base plate 110 Device for simulating endoscopy 208 Guide member 214 Support frame 211 Carriage of the device