Manipulator Cart Bifurcated Navigation for Precise Positioning
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Solution Overview
Problem
Challenges in navigating a manipulator cart in a computer-assisted medical system due to poor visibility, obstacles, and narrow parameters make it difficult for operators to efficiently and accurately position the cart at the target location.
Innovation Solution
A bifurcated navigation control system that autonomously controls the steering of the manipulator cart while allowing operator control of propulsion using different control interfaces, enabling efficient and safe navigation to the target location.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If autonomous steering control is implemented to improve navigation accuracy, then positioning precision is improved, but operator control complexity increases
Solution Approach 1:
The control system is segmented into two independent modules: autonomous steering control module and operator propulsion control module. This allows the system to provide autonomous positioning precision while maintaining operator control through a simplified propulsion interface, resolving the contradiction between precision and complexity.
Solution Approach 2:
The control system acts as an intermediary between the manipulator cart and the operator, autonomously handling steering commands while accepting only propulsion commands from the operator. This intermediary function enables precise autonomous navigation while simplifying operator interaction to basic propulsion control.
2Productivity
If autonomous navigation is used to reduce navigation time, then productivity is improved, but safety risk increases
Solution Approach 1:
By segmenting control into autonomous steering and operator-controlled propulsion, the system achieves efficient autonomous navigation while maintaining safety through operator oversight of the cart's movement, balancing productivity and reliability.
Solution Approach 2:
The system implements feedback mechanisms where the autonomous steering controller continuously monitors cart position and adjusts steering accordingly, while the operator maintains control of propulsion speed and direction, creating a feedback loop that ensures both efficiency and safety.
3Adaptability or versatility
If full manual control is maintained to ensure operator flexibility, then adaptability is improved, but positioning accuracy deteriorates
Solution Approach 1:
The control system is divided into autonomous steering for precision and operator-controlled propulsion for flexibility, allowing the manipulator cart to achieve accurate positioning while maintaining operator adaptability in navigation decisions.
Solution Approach 2:
Manual steering control is replaced with an autonomous steering controller that uses sensors and algorithms to achieve precise positioning, while operator control is retained for propulsion, substituting mechanical manual steering with automated control for improved accuracy.
Data Source
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AI summary
A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location. The system directs the manipulator cart to navigate, in a first bifurcated navigation control mode associated with a primary control interface that facilitates both operator control of steering and propulsion, along at least part of a first portion of the path from the initial to an intermediate location. The system further directs the manipulator cart to navigate, in a second bifurcated navigation control mode associated with a secondary control interface that facilitates operator control of propulsion but not steering, along at least part of a second portion of the path from the intermediate to the target location. In the first and second bifurcated navigation control modes, the system autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart.