Manipulator Cart Steering Autonomy With Operator-Limited Propulsion
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Solution Overview
Problem
Existing computer-assisted medical systems face challenges in efficiently navigating manipulator carts from an initial location to a target location due to poor visibility, obstacles, and narrow parameters, which can lead to suboptimal and inefficient placement of the manipulator cart.
Innovation Solution
The implementation of a bifurcated navigation control system that autonomously controls the steering of the manipulator cart while allowing operator control of propulsion, with defined propulsion limitations based on navigation conditions, to facilitate efficient and accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If autonomous navigation control is implemented for the manipulator cart, then positioning accuracy and navigation safety are improved, but operator control flexibility and adaptability deteriorate
Solution Approach 1:
The navigation control is segmented into two independent control dimensions: autonomous steering control and operator-controlled propulsion. The processor autonomously controls the steering actuator to manage directional movement and avoid obstacles, while the operator retains control of the propulsion actuator for forward/backward movement. This segmentation allows the system to achieve precise autonomous positioning while preserving operator flexibility in terms and manner of approach.
2Productivity
If full autonomous control is implemented, then navigation efficiency and timing are improved, but operator adaptability to specific operational needs deteriorates
Solution Approach 1:
The control system segments autonomous functions (steering, path planning, obstacle avoidance) from operator-controlled functions (propulsion timing and speed). This allows the processor to efficiently manage complex navigation tasks autonomously while the operator adapts propulsion based on real-time operational needs, combining high navigation efficiency with operational adaptability.
Solution Approach 2:
The manipulator cart performs self-navigation through autonomous steering control where the processor continuously monitors navigation conditions, calculates optimal paths, and adjusts steering automatically. This self-service capability handles routine navigation efficiently while the operator intervenes only when adaptability is needed, optimizing both productivity and flexibility.
3Reliability
If autonomous steering control is implemented, then navigation safety and obstacle avoidance are improved, but system complexity increases
Solution Approach 1:
The control system is segmented into independent modules: autonomous steering control module (with processor, steering actuator, and navigation algorithms) and operator-controlled propulsion module. This modular segmentation isolates the complex autonomous functions to the steering subsystem while keeping the propulsion subsystem simple and operator-driven, thereby improving safety without excessively increasing overall system complexity.
Solution Approach 2:
The processor acts as an intermediary that receives navigation data from sensors, processes path planning algorithms, and outputs steering commands to the steering actuator. This intermediary layer manages the complexity of autonomous navigation safely, translating complex environmental data into simple actuator commands while shielding the operator from system complexity.
4Adaptability or versatility
If operator control of both steering and propulsion is maintained, then operational flexibility is improved, but positioning precision and navigation efficiency deteriorate
Solution Approach 1:
The system segments control functions such that the operator controls propulsion for operational flexibility while the processor autonomously controls steering for positioning precision. This segmentation allows the operator to flexibly decide when and how to move the cart forward while the autonomous steering system ensures precise positioning and accurate adherence to the planned path, achieving both flexibility and precision simultaneously.
Data Source
AI summary
A bifurcated navigation control system is configured to identify a navigation condition associated with a navigation of a component of a computer-assisted medical system component along a path from an initial location to a target location; determine, based on the navigation condition, a propulsion limitation configured to be imposed on operator-provided commands related to a propulsion of the component during the navigation of the component along the path; and direct the component to navigate, in a bifurcated navigation control mode, along at least part of the path from the initial location to the target location. In the bifurcated navigation control mode, the bifurcated navigation control system is configured to autonomously control a steering of the component while allowing operator control of the propulsion of the component based on the operator-provided commands as limited by the propulsion limitation.