Imaging Support Joint Torque Control for Stable Medical Positioning
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Solution Overview
Problem
In medical observation apparatuses, the imaging field of view is reduced with increased magnification, and the imaging unit may be accidentally moved out of position due to weak force application, leading to missed images, necessitating additional load on joint parts for control, which burdens the user during evacuation.
Innovation Solution
A medical holding apparatus with a support unit and load applying mechanism that adjusts torque based on the imaging unit's operating state, applying resistance to prevent rotation and improve operability during movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a certain load is applied to each of the joint parts to control movement and prevent missing of image, then the imaging field of view is maintained, but an extra burden is imposed on the user to move the imaging unit
Solution Approach 1:
The load applying mechanism dynamically adjusts the resistance load based on the operating state (zoom magnification and moving speed). When the imaging unit is stationary or moving slowly at high magnification, higher load is applied to maintain field of view. When moving quickly or at low magnification, lower load is applied to reduce user burden during evacuation.
Solution Approach 2:
The system changes the load parameter (torque) according to changing operating conditions. The processor calculates appropriate torque values based on zoom magnification and moving speed, and the load applying mechanism adjusts the resistance accordingly, optimizing both reliability and ease of operation across different scenarios.
2Adaptability or versatility
If the imaging unit is moved three-dimensionally by operation of joint parts, then the imaging unit can be positioned at desired location, but the imaging field of view is reduced with increased magnification
Solution Approach 1:
The system uses feedback from zoom magnification and moving speed detection to adjust the load applied by the load applying mechanism. This feedback loop allows the system to automatically compensate for field of view reduction by applying appropriate resistance to prevent accidental movement while still allowing intentional repositioning when needed.
3Reliability
If loads are applied to the joint parts to prevent missing of image, then the imaging field of view is maintained, but the operability during evacuation is degraded
Solution Approach 1:
The resistance load is made dynamic rather than static. The load applying mechanism adjusts torque in real-time based on moving speed and zoom magnification, providing high resistance only when necessary for field of view maintenance, and reducing resistance during evacuation operations to improve productivity.
Solution Approach 2:
The system changes the load parameter according to operating conditions. By calculating torque based on zoom magnification and moving speed, the system optimizes the balance between maintaining field of view (reliability) and enabling efficient evacuation (productivity) across different operational scenarios.
Data Source
AI summary
A medical holding apparatus includes: a support including a plurality of arms, and a plurality of joints configured to connect the plurality of arms, the support being configured to support an imaging unit at a distal end thereof; a load applying mechanism arranged in at least one of the joints and configured to apply a resistance load against operation of the at least one of the joints to the support; and a processor comprising hardware, the processor being configured to: set torque to be applied by the load applying mechanism based on an operating state of the imaging unit; and apply a load corresponding to the set torque to the load applying mechanism when a rotation inhibit state of each of the arms of the support is released.