Manipulator Cart Navigation With Autonomous Steering Split Control
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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 primary and secondary control interfaces, facilitating efficient and accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If autonomous steering control is implemented to improve positioning accuracy, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The navigation control is divided into two independent modules: autonomous steering control and operator-controlled propulsion. The processor autonomously controls steering by generating steering commands based on path information, while the operator controls propulsion through a simplified interface. This segmentation allows the complex autonomous steering function to be isolated from the operator interface, improving positioning accuracy without overwhelming the operator with system complexity.
Solution Approach 2:
The system introduces an intermediate control architecture where the processor acts as a mediator between path planning and execution. The processor receives path information, calculates optimal steering commands, and outputs them to the steering system, while separately receiving propulsion commands from the operator. This intermediary layer enables precise autonomous steering control while maintaining a simple operator interface for propulsion only.
2Ease of operation
If operator control of both steering and propulsion is provided, then ease of operation is improved, but positioning accuracy deteriorates due to poor visibility and obstacles
Solution Approach 1:
The control functions are segmented into two distinct responsibilities: the operator controls propulsion through a simplified interface, while the processor autonomously handles steering control. This segmentation allows the operator to focus on propulsion without the burden of steering decisions, improving ease of operation, while the autonomous steering system ensures high positioning accuracy by utilizing path information and avoiding obstacles without being constrained by operator visibility limitations.
3Manufacturing precision
If full autonomous control is implemented, then positioning accuracy is improved, but ease of operation deteriorates due to loss of operator control
Solution Approach 1:
The system segments autonomous control functions to apply them selectively: the processor autonomously controls steering to achieve high positioning accuracy, while the operator retains full control of propulsion. This partial automation approach maintains operator control capability for functions where human judgment is valuable (propulsion timing and force), while delegating precision-critical functions (steering) to autonomous control, thus balancing positioning accuracy with ease of operation.
Solution Approach 2:
Different levels of automation are applied to different control functions based on their specific requirements. Steering control, which requires high precision and continuous path following, is fully autonomous. Propulsion control, which benefits from operator timing and force judgment, remains operator-controlled. This local differentiation of automation quality optimizes both positioning accuracy and ease of operation.
4Device complexity
If manual navigation is used to maintain simple control interface, then device complexity is reduced, but productivity deteriorates due to extended navigation time
Solution Approach 1:
The control system is segmented into autonomous steering and operator-controlled propulsion. The autonomous steering module rapidly calculates and executes steering commands to follow the optimal path, significantly reducing navigation time compared to manual steering. The operator propulsion control remains simple and intuitive, maintaining low perceived complexity. This segmentation enables high productivity through fast autonomous steering while keeping the operator interface simple for propulsion commands.
Solution Approach 2:
The system replaces manual mechanical steering control with an autonomous electronic control system that processes path information and generates steering commands. This substitution eliminates the time-consuming nature of manual steering adjustments while the operator retains control of propulsion through a simplified electronic interface. The result is dramatically improved navigation speed without requiring the operator to manage complex steering operations.
Data Source
AI summary
A system is configured to direct a manipulator cart to navigate, in a first bifurcated navigation control mode, from an initial location to an intermediate location; and direct the manipulator cart to navigate, in a second bifurcated navigation control mode, from the intermediate location to a target location. In the first bifurcated navigation control mode, the system is configured to autonomously control a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart using a primary control interface configured to facilitate operator control of both steering and propulsion of the manipulator cart. In the second bifurcated navigation control mode, the system is configured to autonomously control the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart using a secondary control interface configured to facilitate operator control of the propulsion and not the steering of the manipulator cart.