Correction Jig for Medical Master-Slave Manipulator Alignment

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Medical master-slave manipulator systems face challenges in maintaining accurate alignment and calibration between the master and slave manipulators, particularly when the slave manipulator is inserted into a complexly bent body site, leading to misalignment of the joint positions and orientations.

Innovation Solution

A system comprising a master manipulator with a correction jig that limits the joint to a straight state, a control unit that generates operation commands for relative movement of the slave manipulator and overtube, and a channel member that holds the joint to match the slave manipulator's shape, ensuring accurate alignment and initial position setting.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the slave manipulator is inserted into a complexly bent body site, then the manipulator can reach the target location, but the joint positions and orientations become misaligned between master and slave manipulators

Engineering Contradiction:

Improveability to navigate bent body sitesVSAvoidjoint position alignment accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The correction jig is attached to the master manipulator before the slave manipulator is inserted into the body site. This preliminary action pre-corrects the master manipulator's joint positions and orientations to match the expected bent configuration, ensuring that when the slave manipulator reaches the target location, both manipulators remain properly aligned despite the bent pathway

Inventive Principle:

Principle #10Preliminary action

2Reliability

If calibration is performed to maintain following accuracy, then the slave manipulator follows the master manipulator accurately, but the calibration process requires time and may not account for dynamic bending during insertion

Engineering Contradiction:

Improvefollowing accuracyVSAvoidcalibration time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The correction jig is attached in advance to pre-adjust the master manipulator's configuration, eliminating the need for time-consuming calibration procedures during or after insertion. The preliminary correction ensures accurate following throughout the procedure without requiring dynamic recalibration

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The correction jig acts as an intermediary device between the master and slave manipulators. It mediates the relationship by physically adjusting the master manipulator's joint positions to match the slave manipulator's configuration, ensuring accurate following without requiring complex calibration algorithms or procedures

Inventive Principle:

Principle #24Intermediary (Mediator)

3Ease of operation

If the master manipulator is allowed to bend freely to match the body site, then the manipulator can navigate the bent path, but the joint alignment with the slave manipulator deteriorates

Engineering Contradiction:

Improveability to navigate bent pathsVSAvoidjoint orientation accuracy

Core Design Contradiction:

Ease of operationVSManufacturing precision

Solution Approach 1:

The correction jig serves as an intermediary that physically constrains and positions the master manipulator's joints to match the slave manipulator's configuration. This intermediary device enables the master manipulator to navigate bent paths while maintaining precise joint orientation accuracy through mechanical guidance rather than free bending

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS11033346B2Medical master-slave manipulator system

Publication Date: 2021.06.15 OLYMPUS CORPORATION(JP)

AI summary

A correction jig of a medical master-slave manipulator system limits a straight state of a master manipulator, in a state where the correction jig is attached to the master manipulator.