Manipulator Signal Replacement for Endoscope Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing manipulators for endoscopes and treatment instruments face challenges in maintaining accurate control of turnable joints, particularly when sensor signals deviate from allowable operation ranges due to noise or errors, leading to potential malfunction and disruption of medical procedures.
Innovation Solution
A manipulator system that includes a drive section, instruction input section, sensor for monitoring operation status, and a control section that generates driving signals based on allowable operation ranges. In case of deviation, it replaces the faulty sensor signal with a previous valid signal to ensure continuous operation, preventing abnormal termination of medical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor signals are used to control the drive section, then the joint can be driven accurately according to instruction input, but the system may malfunction when sensor signals deviate from allowable operation ranges due to noise or errors
Solution Approach 1:
The determination section continuously monitors sensor signals and compares them against allowable operation ranges, creating a feedback mechanism that detects deviations caused by noise or errors and triggers appropriate corrective actions to maintain reliable operation
Solution Approach 2:
The replacement section acts as an intermediary between the sensor and the driving signal generation, substituting invalid sensor signals with previously valid ones to prevent noise and errors from disrupting the control system while maintaining continuous operation
2Reliability
If the system stops operation when sensor signals become invalid, then malfunction can be prevented, but medical procedures are abruptly terminated
Solution Approach 1:
The system performs preliminary validation of sensor signals against allowable operation ranges before using them to generate driving signals, and prepares replacement values in advance to ensure continuous operation without abrupt termination when deviations occur
Solution Approach 2:
The replacement section ensures continuous operation by substituting invalid sensor signals with previously valid ones, allowing the medical procedure to continue without interruption while maintaining reliable control of the joint
3Productivity
If previous valid sensor signals are used when current signals are invalid, then continuous operation is maintained, but there may be a delay in reflecting the actual current position
Solution Approach 1:
The system dynamically switches between using current sensor signals and previous valid signals based on real-time validation results, adapting the signal source to maintain both operational continuity and position accuracy under varying conditions
Data Source
AI summary
A manipulator includes: a drive section which electrically drives a joint; an instruction input section which executes instruction input; a control section which generates a driving signal in response to the instruction input; a sensor which detects an operation status of the joint or the drive section in time series; a setting section which sets an allowable operation range of the drive section; a determination section which determines whether an operation status signal including a detection signal is within the allowable operation range; and a replacement section which, in a case when the operation status signal is determined as deviating from the allowable operation range, replaces the detection signal with a previous detection signal acquired just before the determination of deviance in order to generate a driving signal.