Medical Manipulator Proximity Sensing for Interference Avoidance
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Solution Overview
Problem
Existing medical manipulator systems face challenges in preventing interference between manipulators and other objects in the operating area, particularly due to the lack of effective proximity detection and control mechanisms.
Innovation Solution
A medical manipulator system equipped with a sensor to detect objects in a predetermined area, a processor to calculate degrees of proximity, and a controller to generate control signals when proximity exceeds a threshold, preventing interference by adjusting the position and orientation of the treatment tool and manipulators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a sensor and proximity calculation system are added to detect and prevent interference, then safety and reliability are improved, but device complexity increases
Solution Approach 1:
The system performs preliminary detection of objects in the manipulator's path using a sensor before interference occurs. The controller continuously calculates proximity degrees and generates control signals in advance to prevent harmful contact, rather than reacting after interference happens.
Solution Approach 2:
The sensor acts as an intermediary detection device between the manipulator and surrounding objects. The controller serves as a mediator that processes sensor data and generates control signals to adjust manipulator positions, preventing direct interference without requiring complex mechanical safeguards.
2Reliability
If the manipulator position is adjusted to avoid detected objects, then interference is prevented, but the precision and time to reach the treatment target are worsened
Solution Approach 1:
The system dynamically adjusts manipulator positions based on real-time proximity calculations. When an object is detected within a threshold proximity, the controller generates control signals to move the manipulator to an alternative position that avoids interference while still enabling treatment. This dynamic adaptation maintains precision by selecting from multiple valid positions.
Solution Approach 2:
The controller changes operational parameters such as manipulator position coordinates and orientation angles when proximity thresholds are exceeded. By adjusting these parameters within acceptable ranges, the system maintains treatment precision while avoiding detected objects, rather than simply stopping or retracting.
3Reliability
If continuous proximity monitoring is implemented, then safety is improved, but energy consumption and processing load increase
Solution Approach 1:
The system implements periodic proximity monitoring at defined intervals rather than continuous monitoring. The controller calculates proximity degrees at regular time steps or when specific trigger conditions occur, reducing computational load and energy consumption while maintaining adequate safety monitoring coverage throughout the treatment process.
Data Source
AI summary
A medical manipulator system including: a placement table on which a patient is placed; at least one manipulator configured to support a treatment tool which is configured to treat the patient, the manipulator configured to adjust a position and an orientation of the treatment tool; a base portion configured to support the manipulator; a sensor configured to detect objects which are present in a predetermined area including the manipulator and the placement table; and a controller including at least one processor, wherein the processor is configured to: calculate degrees of proximity between the objects detected by the sensor and the manipulator, and generate, in case that the calculated degrees of proximity exceed a predetermined threshold, a control signal for preventing interference between the objects and the manipulator.