Manipulator Force Reduction Input Means
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Solution Overview
Problem
There is a lack of trust in manipulator systems, particularly in medical applications, where patients and doctors are hesitant to rely on them for critical procedures due to a lack of control over the force exerted by the manipulator, leading to discomfort and potential harm during treatments like ultrasound examinations.
Innovation Solution
A manipulator system with a control means and a force reduction input means that allows operators or patients to adjust the contact pressure exerted by the instrument in real-time, using sensors and user interfaces like buttons or controllers, enabling interactive control of the force applied during treatments without aborting the procedure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the manipulator applies sufficient contact force to perform effective treatment (e.g., ultrasound examination), then the treatment quality is improved, but the patient experiences discomfort or pain
Solution Approach 1:
The manipulator system dynamically adjusts the contact force applied by the instrument based on real-time feedback from force sensors and patient input. The control device modifies the actuation signals to the drives, enabling the contact force to vary between a minimum effective level and a maximum comfortable level during the procedure, rather than maintaining a fixed force level
Solution Approach 2:
The system incorporates force sensors that continuously measure the contact force between the instrument and patient body. This measurement is fed back to the control device, which also receives input from the input device operated by the patient or operator. The control device uses this feedback to adjust the manipulator's actuation in real-time, creating a closed-loop control system that balances treatment effectiveness with patient comfort
2Productivity
If the manipulator operates autonomously according to pre-defined paths, then productivity is improved, but the patient loses control and trust in the system
Solution Approach 1:
The manipulator system is designed to operate in multiple modes: fully autonomous execution of pre-defined treatment paths for efficiency, and manual control modes where the patient or operator can directly control the manipulator movements. The system universally supports both automated and manual operation modes, allowing flexibility based on patient needs and treatment requirements
Solution Approach 2:
The input device serves as an intermediary between the patient and the manipulator system. When the patient activates the input device, it sends signals to the control device, which then adjusts the manipulator's behavior. This intermediary mechanism enables the patient to exert control over the autonomous system without directly manipulating the complex manipulator controls, maintaining both automation benefits and patient agency
3Manufacturing precision
If the manipulator follows a pre-defined trajectory, then manufacturing precision is improved, but the system cannot adapt to unexpected patient reactions or conditions
Solution Approach 1:
While maintaining the pre-defined trajectory as a guide, the system dynamically adjusts the actual path and contact force based on real-time feedback from force sensors and patient input through the input device. The control device modifies the trajectory execution in real-time, allowing the manipulator to deviate from the pre-planned path when necessary to accommodate patient reactions or unexpected conditions
Solution Approach 2:
The force sensors continuously monitor contact force during trajectory execution, and this feedback is combined with patient input from the input device. The control device uses this feedback to adaptively adjust the manipulator's movements and contact force, enabling real-time modification of the treatment path while maintaining overall trajectory accuracy and treatment effectiveness
Data Source
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AI summary
The present invention relates to a manipulator system comprising a manipulator (10) which is configured for guiding an instrument (11). The system furthermore comprises a control means which is configured to actuate the manipulator (10) such that the instrument (11) is pressed with a pressing force against a human body (20). Furthermore, a force reduction input means (30) is provided separately from the manipulator (10), which is operable by an operator (20) in order to reduce the pressing force.