Medical Manipulator Joint Alignment via Orientation Feedback
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Solution Overview
Problem
Current medical manipulator systems lack effective means to align and synchronize the orientation of master and slave manipulators, leading to inefficiencies in surgical procedures due to the absence of real-time feedback and intuitive display of joint angles and ranges, which complicates the restoration of similarity relations between the operation input device and the treatment instrument.
Innovation Solution
A medical manipulator system incorporating a control unit that outputs signals to align the first joint with the second joint based on detected orientations, and a display unit showing the movable range and shape synchronizable range of the joints, allowing users to intuitively understand and align the articulated arm with the treatment instrument, thereby facilitating precise alignment and reducing alignment time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If real-time feedback and intuitive display of joint angles and ranges are added to align master and slave manipulators, then alignment time is reduced and surgical efficiency is improved, but device complexity increases
Solution Approach 1:
The patent implements real-time feedback by detecting the orientation of both the first joint (master manipulator) and second joint (slave manipulator) using detecting means, and displaying the detected orientations and their differences on a display unit. This allows the operator to see the alignment status immediately and adjust accordingly, significantly reducing alignment time.
Solution Approach 2:
The patent introduces a control unit as an intermediary that processes the detected orientations, calculates the difference between master and slave manipulator angles, and generates control signals to guide alignment. This intermediary layer manages the complexity by centralizing the computation and control logic, making the system more manageable despite the added functionality.
2Ease of operation
If display unit shows movable range and shape synchronizable range of joints, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The patent segments the display information into distinct components: the movable range of the first joint, the shape synchronizable range, and the current orientation difference. By dividing the information display into separate visual elements, the system makes it easier for the operator to understand and interpret the alignment status without being overwhelmed by a single complex display.
Solution Approach 2:
The patent adds a visual dimension to the alignment process by displaying the orientation difference and range information on a display unit. This transforms the abstract concept of joint alignment into a visible, intuitive representation, allowing operators to grasp the alignment status at a glance and operate the system more easily.
3Manufacturing precision
If control unit aligns first joint with second joint based on detected orientations, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The control unit continuously receives feedback from the detecting means about the orientations of both joints and automatically generates control signals to minimize the orientation difference. This closed-loop feedback control ensures high alignment precision by constantly monitoring and adjusting the relative positions of the master and slave manipulators.
Solution Approach 2:
The control system performs self-alignment by automatically comparing the detected orientations of the first and second joints and generating appropriate control signals without requiring manual intervention. This self-service capability achieves precise alignment while reducing the operational burden on the user, despite the increased control system complexity.
Data Source
AI summary
A medical manipulator system includes a manipulator having a first joint; a first detecting means detecting an orientation of the first joint; an operation unit having a second joint associated with the first joint for operating the first joint; a second detecting means detecting an orientation of the second joint; a control unit outputting a signal for operating the first joint, the signal being based on the orientation of the second joint detected by the second detecting means; and a display unit displaying information output by the control unit, wherein a display of the information by the display unit includes a first display indicating a predetermined range of an orientation determined by using the orientation of the first joint that is detected by the first detecting means as a reference and a second display indicating the orientation of the second joint that is detected by the second detecting means.