Manipulator Controller for Safe Working Unit Detachment
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Solution Overview
Problem
Current manipulator systems in laparoscopic surgery face challenges in easily and safely detaching and reattaching working units from the control apparatus without causing open-loop conditions, which can lead to unintended motor movements and require power cycling, complicating the process and increasing the risk of errors.
Innovation Solution
A manipulator system with a controller that includes an ID retention section for each working unit, an ID identification section, a detachment determining section, and a warning section to ensure safe detachment by identifying the unit's position and preventing unintended movements, allowing for detachment without power cycling the control apparatus.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the connector is disconnected during operation, then the working unit can be detached for cleaning or replacement, but an open-loop condition occurs causing unintended motor movements
Solution Approach 1:
The control apparatus is designed to automatically detect when the connector is disconnected and proactively stop motor driving in advance. This preliminary action prevents the open-loop condition from causing unintended movements, allowing safe detachment without requiring power cycling while maintaining system stability.
2Reliability
If power supply is switched OFF before detachment, then open-loop conditions can be prevented, but the process becomes more complex and time-consuming
Solution Approach 1:
The control apparatus autonomously monitors connector status and automatically stops motor driving when disconnection is detected. This self-service mechanism eliminates the need for manual power cycling or complex user actions, simplifying the detachment process while maintaining reliable prevention of open-loop conditions.
3Adaptability or versatility
If multiple different types of working units are used with a single operation command unit, then versatility is improved, but the system complexity increases due to the need for common origin posture alignment
Solution Approach 1:
The control apparatus uses feedback from the encoder to detect the actual position of the working unit and automatically adjusts motor phase settings. This feedback mechanism allows the system to adapt to different working unit types without manual phase configuration, maintaining versatility while reducing complexity through automated position recognition and compensation.
Data Source
AI summary
A manipulator has an operation command unit and an exchangeable working unit. The working unit comprises an end effector operable under actions of a control apparatus, and an ID retaining section holding an ID for individualized discrimination of the working unit. The control apparatus includes an ID identification section for identifying the ID and for determining whether the working unit is connected to the operation command unit, an origin point recognition section for recognizing whether the end effector is in a prescribed origin point position or in a non-origin point position, and a warning section which generates a detachment warning when it is determined that the end effector has been detached from the operation command unit, in the event it is determined that the end effector is in a non-origin point position.