Catheter Robot Adaptive Control for Bed Orientation
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Solution Overview
Problem
Catheter robots require manual repositioning and significant spatial adjustments when changing the surgical bed orientation, leading to inefficiencies and increased operational complexity.
Innovation Solution
A catheter robot system with a manipulator assembly and control apparatus that automatically identifies and adjusts the installation direction of catheter instruments, determining a target mapping relationship to adapt the robot's working direction without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual setting of working direction is used, then the catheter robot can perform surgery for patients in specific bed positions, but the robot needs to be physically moved when bed orientation changes, resulting in time-consuming and laborious operation
Solution Approach 1:
The system dynamically adjusts the working direction based on real-time detection of catheter installation direction. The control apparatus automatically updates the mapping relationship between driving mechanism and target motion direction, allowing the robot to adapt to different bed orientations without physical relocation.
Solution Approach 2:
The catheter robot performs self-adjustment by automatically detecting the installation direction of the catheter instrument and configuring the appropriate mapping relationship without manual intervention. The system uses sensors to detect catheter orientation and autonomously updates control parameters to match the new configuration.
2Adaptability or versatility
If manual repositioning of the catheter robot is performed, then the working direction can be changed, but the overall equipment is heavy and requires significant effort and space to move
Solution Approach 1:
The patent replaces the mechanical repositioning system with an automated detection and control system. Instead of physically moving the heavy robot equipment, sensors detect the catheter installation direction and the control apparatus automatically adjusts the working parameters, substituting mechanical relocation with electronic adaptation.
Solution Approach 2:
The system changes operational parameters (mapping relationship between driving mechanism and motion direction) rather than physical parameters (robot position). By detecting catheter installation direction and updating control mappings, the system achieves direction change through parameter adjustment instead of physical repositioning.
3Productivity
If the catheter robot is designed with fixed working direction, then the structure can be simplified, but the robot cannot serve patients in different bed positions without relocation
Solution Approach 1:
The catheter robot achieves multi-functionality by detecting catheter installation direction and automatically configuring working parameters for different orientations. The same robot structure can serve patients in various bed positions (left bed, right bed, different orientations) without physical relocation, making the system universal across multiple surgical scenarios.
Solution Approach 2:
The system implements feedback by using sensors to detect the actual installation direction of the catheter instrument and using this information to automatically adjust the working direction parameters. This closed-loop feedback mechanism ensures the robot operates efficiently regardless of how the catheter is installed or how the bed is positioned.
Data Source
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AI summary
The present application discloses a catheter robot, a control method therefor, and a medium. The catheter robot comprises: a manipulator assembly and a control apparatus. The control apparatus is coupled with the manipulator assembly and is configured to acquire the installation direction of a catheter instrument in the manipulator assembly; determine one of a first mapping relationship and a second mapping relationship as a target mapping relationship according to the installation direction; and control, on the basis of the target mapping relationship, a driving mechanism in the manipulator assembly to manipulate the motion of the catheter instrument in the target motion direction. The manipulator assembly is controlled to drive the catheter instrument according to the mapping relationship corresponding to the installation direction of the catheter instrument in the manipulator assembly, so that the influence that changing the installation direction of the catheter instrument has on the catheter control effect is overcome, and the catheter robot can make adaptive adjustments according to the use environment.