Page 388 - Flexible Robotics in Medicine

Robotic transluminal Pan-and-Tilt Scope 381

Figure 16.15
(A) Angle of articulation for a patent (US 20140275785 A1); (B) angle of articulation of P.A.T.S.

16.5.1 US 20140275785 A1 apparatus for wiping angled window of the endoscope

Like this patent, which has a distal end capable of tilting and a shaft capable of rotation
relative to the body, P.A.T.S can allow for tilting and rotation at its distal end ring as well.
However, their viewing angle is of an oblique view covering 180 degrees, as shown in
Fig. 16.15. As for P.A.T.S, the viewing angle is facing the front covering approximately
44 54 degrees left and right. Similarly, P.A.T.S’ shaft assembly is rigid as well. However,
the patent’s tilting is done through a rotatable prism while that of P.A.T.S’ is through the
tension of stainless-steel cables tilting a ring containing the endoscopic camera.

16.5.2 US 7713189 B2 video endoscope with a rotatable video camera

16.5.2.1 Key claims
A camera together with a rotation element constituting a swivel unit. The swivel unit distal
end zone is supported by a distal swivel bearing close to the video camera and said swivel
unit proximal end zone being supported by a proximal swivel bearing. The distal swivel
bearing comprises a ceramic ring is affixed to the tube and runs in an external groove of a
camera case to which are affixed both the video camera and rotation element.

16.5.2.2 Assessment
P.A.T.S consists of a rotation mechanism as well, which is done so by a stepper motor
rotating the cables with the aid of a groove between the tip at the distal end portion and the
rigid tube/sheath. Hence this is different from the device in this patent, in which its rotation
is brought about using swivel bearings driven by a swivel system. Additionally, our system
comprises a tilting mechanism driven by servo motors by applying tension in the cables.
The rotation mechanisms are not the same, and P.A.T.S has an additional tilting
mechanism.