Medical Manipulator Bending Control Under Wire Tension Limits
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Solution Overview
Problem
Conventional medical manipulator systems limit bending drive based on wire tension, leading to reduced maximum bending angles due to factors other than bending, such as wire meandering.
Innovation Solution
A medical manipulator system with a sensor to detect bending wire tension and a controller that limits the bending drive to a predetermined range by ensuring the tension does not exceed a set limit value, using actuators to control the bending wire.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the bending drive of the insertion portion is limited based on wire tension, then the safety and reliability of the system is improved, but the maximum bending angle decreases due to factors other than bending drive, such as wire meandering
Solution Approach 1:
The system continuously monitors the actual bending angle of the insertion portion and compares it with the bending drive amount. When a discrepancy is detected (indicating wire meandering or other factors), the controller adjusts the bending drive to maintain the desired bending angle, thereby resolving the contradiction between safety and maximum bending capability
Solution Approach 2:
The system dynamically adjusts the tension limit value based on the actual bending angle and bending drive amount. By changing the tension threshold parameter adaptively, the system maintains reliable operation while preserving the maximum bending angle capability, preventing false limitations caused by wire meandering
2Shape
If the tension of the bending wire is increased to achieve larger bending angles, then the bending capability is improved, but the risk of wire failure increases
Solution Approach 1:
The system monitors the relationship between bending drive amount and actual bending angle, and adjusts the tension limit dynamically. This feedback mechanism prevents excessive tension accumulation while maintaining the ability to achieve large bending angles, thus protecting the wire from failure
Solution Approach 2:
The tension limit value is not fixed but dynamically adjusted based on real-time operating conditions. This dynamic adjustment allows the system to optimize wire tension for maximum bending capability while preventing conditions that would lead to wire failure
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system maintains a maximum bending angle by limiting bending drive within a predetermined range, preventing excessive tension on the wire and reducing the risk of failure.
Implementation Method 1
a sensor configured to detect tension of the bending wire
Implementation Method 2
an actuator configured to bend the bending portion by driving the bending wire
Data Source
AI summary
A medical manipulator system includes a medical manipulator including a bending portion and a bending wire configured to bend the bending portion, an actuator configured to bend the bending portion by driving the bending wire, a sensor configured to detect tension of the bending wire, and a controller configured to control the actuator. The controller drives the bending wire so that the tension of the bending wire does not exceed a tension limit value determined on the basis of a traction quantity of the bending wire.