Medical Manipulator Controller Resetting Logic
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Solution Overview
Problem
In medical manipulator systems used for laparoscopic surgery, there is a need for a controlled resetting process for actuators to ensure accurate alignment of working units with the origin position, especially when replacing different surgical tools, without inadvertently activating the resetting process.
Innovation Solution
A medical manipulator system with a controller, a first resetting switch, and a second resetting switch that allows for a controlled resetting process by providing a warning and returning the actuator to the origin only when both switches are operated according to a predetermined procedure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the resetting process is made easily activatable for quick realignment, then the ease of operation improves, but the risk of careless activation increases leading to system errors
Solution Approach 1:
The system performs preliminary detection of working unit removal status before allowing resetting activation. The controller checks whether the working unit has been removed from the operating unit, and only enables the resetting function when removal is detected. This preliminary check prevents careless activation during normal operation while allowing easy resetting when actually needed.
Solution Approach 2:
The controller acts as an intermediary between the resetting switch and the actuator. Instead of directly connecting the switch to the actuator resetting function, the controller mediates by detecting working unit removal status and conditionally enabling the resetting activation. This intermediary layer provides safety verification while maintaining operational ease when conditions are met.
2Reliability
If the system requires multiple switch operations for resetting, then the reliability against careless activation improves, but the device complexity increases
Solution Approach 1:
The controller provides multi-functionality by combining working unit removal detection and resetting control functions into a single integrated system. The same controller that manages overall system operation also detects removal status and controls resetting activation. This universal approach provides reliable protection without requiring separate complex mechanisms for each function.
Solution Approach 2:
The system uses its existing operational status information (working unit attachment status) to automatically control resetting availability. The controller self-regulates the resetting function based on its own detection of whether the working unit has been removed, eliminating the need for external complex control mechanisms while ensuring reliable operation.
3Productivity
If the actuator position is not reset to origin before working unit removal, then the productivity improves by avoiding resetting delays, but the manufacturing precision of subsequent operations deteriorates
Solution Approach 1:
The system performs preliminary resetting of the actuator to origin position automatically when working unit removal is detected. This preliminary action ensures that the next working unit will be installed with correct alignment precision. The resetting occurs in advance during the replacement process, not as a separate delay step, maintaining both precision and productivity.
Solution Approach 2:
The controller uses feedback from the resetting switch to determine when resetting should occur. When the switch detects working unit removal, the controller provides feedback control to activate the actuator resetting function, ensuring the origin position is restored before the next working unit is installed. This feedback mechanism maintains precision without requiring manual intervention or causing productivity delays.
Data Source
AI summary
A medical manipulator system includes a manipulator, an operating unit for entering operation commands, motors for actuating a working unit, and a controller for energizing the motors based on operation commands supplied from the operating unit. When an activation resetting switch and a resetting switch are operated according to a predetermined procedure, the controller performs a resetting process to return the motors to an origin. The controller is capable of controlling three manipulators. The activation resetting switch is shared by the three manipulators, and there are three resetting switches corresponding to the three manipulators.