Manipulator System with State-Based Backward Motion Restriction
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Solution Overview
Problem
Existing manipulator systems face challenges in accurately controlling the protrusion and retraction of a movable portion within a flexible channel, leading to potential unintended retraction or limited motion when the movable portion is partially inserted, which can cause misalignment and excessive load on joints.
Innovation Solution
A manipulator system with a flexible elongated portion, a movable portion at the distal end, and a driving portion at the proximal end, featuring a reciprocating mechanism that moves the driving portion forward and backward, along with a movable-portion-state identifying system that restricts backward movement when the movable portion is protruded and releases restriction when it's retractable, ensuring precise control and prevention of unintended retraction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the movable portion is allowed to move freely in and out of the channel, then the operator can control the protrusion and retraction, but unintended retraction or limited motion occurs when partially inserted causing misalignment and excessive load on joints
Solution Approach 1:
The system employs a movable-portion-state identifying portion that continuously monitors whether the movable portion is in a protruded state (entirely outside the channel) or retractable state (partially inside the channel). This feedback mechanism enables the restricting portion to automatically adjust motion constraints based on the detected state, preventing unintended retraction while maintaining operational control.
Solution Approach 2:
The restricting portion dynamically changes the degree of freedom of the movable portion based on its position. When the movable portion is fully protruded, the reciprocating portion is restricted from moving backward. When retractable, the restriction is released. This dynamic adjustment resolves the contradiction by adapting constraints to the current operational state.
2Reliability
If the reciprocating portion is restricted from backward movement when fully protruded, then unintended retraction is prevented, but the system complexity increases due to state identification and restriction mechanisms
Solution Approach 1:
The movable-portion-state identifying portion provides automatic state detection, eliminating the need for complex manual monitoring systems. The identifying portion detects whether the movable portion is entirely outside or partially inside the channel and provides feedback to the control system, simplifying the overall architecture while ensuring reliable state-based control.
Solution Approach 2:
The system performs self-monitoring through the movable-portion-state identifying portion, which automatically determines the position state without external intervention. This self-service capability reduces the need for additional complex control mechanisms while maintaining reliable protrusion state management.
3Manufacturing precision
If the movable portion is fully protruded from the channel, then treatment accuracy is improved, but the risk of joint misalignment or excessive load increases without restriction
Solution Approach 1:
The restricting portion applies preliminary anti-action by preventing backward movement of the reciprocating portion when the movable portion is fully protruded. This preemptive restriction counteracts potential forces that could cause joint misalignment or excessive load, protecting the system while maintaining treatment accuracy.
Solution Approach 2:
The system dynamically adjusts motion constraints based on the movable portion's position. When fully protruded for treatment, backward movement is restricted to protect joints. When retracted, normal motion is permitted. This dynamic adaptation allows treatment accuracy while protecting against joint damage.
Data Source
AI summary
A manipulator system is provided with: a manipulator including an elongated flexible portion, a movable portion provided at a distal end thereof, and a driving portion that is provided at a proximal end of the flexible portion and that drives the movable portion; an inserted portion that includes a channel through which the manipulator is made to pass and that possesses flexibility; a reciprocating portion that moves the driving portion forward and backward in a longitudinal direction of the flexible portion; a movable-portion-state identifying portion that identifies a state of the movable portion; a restricting portion that, when the movable portion is identified to be in a protruded state, restricts the driving portion from being moved backward any farther; and a restriction releasing portion that, when the movable portion is identified to be in a retractable state, releases the restriction.