Manipulator Clutch Control for Endoscope Bending Stability
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Solution Overview
Problem
Conventional endoscope manipulator systems face challenges in smoothly transitioning between electrical and manual operation modes, particularly in preventing the bending portion from rapidly returning to a straight state when switching from electrical to manual operation, especially when the bending angle is large.
Innovation Solution
A manipulator system with a clutch mechanism and a controller that determines the grasping state of the operator and controls the clutch mechanism to switch between electrical and manual operation forces, ensuring a controlled transition by matching the operator's force with the motor-generated force, thereby preventing abrupt straightening of the bending portion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the electrical operation is switched to the manual operation by the clutch mechanism and the transmission of an electrical driving force to the bending portion is canceled, then the manual operation can be performed, but the bending portion sharply restores
Solution Approach 1:
The controller performs a regulation operation that temporarily maintains electrical driving force transmission through the clutch mechanism before fully switching to manual operation. This preliminary action prevents the bending portion from sharply restoring by gradually transitioning from electrical to manual control, ensuring stability during the mode switch.
2Adaptability or versatility
If the clutch mechanism switches between electrical and manual operation forces, then operation mode flexibility is improved, but abrupt straightening occurs during transition
Solution Approach 1:
The grasping-state detector detects the operator's grasping state and provides feedback to the controller. The controller uses this feedback to determine the appropriate timing and manner of clutch mechanism switching, allowing adaptive transition between electrical and manual modes while preventing abrupt straightening through controlled force transmission.
Solution Approach 2:
The clutch mechanism is controlled dynamically based on real-time detection of the operator's grasping state. The transition between electrical and manual operation modes is made dynamic rather than fixed, allowing the system to adapt the switching behavior to current operational conditions and prevent harmful abrupt movements.
Data Source
AI summary
A manipulator system, has an elongated portion having a bending portion and a wire configured to bend the bending portion; an operation portion configured to generate a first force for pulling the wire by an operator; a motor configured to generate a second force for pulling the wire; a clutch mechanism configured to switch a pulling force to pull the wire between to at least one of the first force or the second force; a grasping-state detector configured to determine a grasping state of the operation portion by the operator; and a controller configured to control the motor and the clutch mechanism, wherein the controller is configured to obtain the grasping state from the grasping-state detector, generate a control signal for controlling the clutch mechanism according to the obtained grasping state, and transmit the control signal to the clutch mechanism.