Master Arm Control Mode Switching for Multi-Slave Medical Robots
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Solution Overview
Problem
Existing medical systems require a dedicated master arm for each slave arm with different joint configurations, leading to inefficiencies in handling multiple types of slave arms and increased costs due to the need for multiple operable sections and labor-intensive replacements.
Innovation Solution
A medical system with a manipulation-target switching unit and controller that allows for intuitive manipulation of slave arms with any joint configuration using a single master arm, switching between control modes to accommodate different slave arm structures, eliminating the need for dedicated master arms and simplifying device configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a dedicated master arm is prepared for each slave arm with different joint configurations, then each slave arm can be manipulated intuitively, but the device complexity and cost increase significantly
Solution Approach 1:
The master arm is designed with universal functionality to operate multiple types of slave arms with different joint configurations. The control unit automatically adapts the master arm's output to match the specific slave arm's joint structure, allowing one master arm to serve multiple slave arms without requiring dedicated master arms for each configuration.
Solution Approach 2:
The control unit dynamically changes control parameters based on the selected slave arm's joint configuration. When switching between different slave arms, the system adjusts transformation matrices and control algorithms to accommodate varying degrees of freedom and joint structures, enabling intuitive manipulation across different configurations.
2Adaptability or versatility
If multiple types of slave arms with different joint configurations are used, then versatility is improved, but the ability to deal with different configurations using a single master arm deteriorates
Solution Approach 1:
The control system dynamically adapts to different slave arm configurations through automatic recognition and parameter adjustment. The control unit changes its behavior based on the selected slave arm's joint configuration, transforming the master arm's movement commands appropriately for each specific slave arm type while maintaining consistent operational characteristics.
Solution Approach 2:
The system changes control parameters including transformation matrices and joint mapping relationships based on the selected slave arm. This allows the single master arm to effectively control multiple slave arms with different degrees of freedom and joint configurations while maintaining intuitive manipulation.
3Adaptability or versatility
If operable sections are replaced to match different distal-end treatment sections, then adaptability is improved, but the time and labor required for replacement increase
Solution Approach 1:
The master arm serves as a universal operable section that can control multiple types of slave arms without requiring physical replacement. The electronic control system provides the adaptability previously achieved through physical replacement, but without the time and labor costs associated with mechanical substitution.
Solution Approach 2:
The system replaces the mechanical replacement of operable sections with an electronic control system that dynamically adjusts parameters. Instead of physically swapping master arm components to match different slave arms, the control unit electronically adapts the control algorithm and transformation matrices for each slave arm type.
4Ease of operation
If the joint configuration of the master arm has a one-to-one correspondence with the slave arm, then intuitive manipulation is achieved, but the ability to handle multiple slave arm types deteriorates
Solution Approach 1:
The control unit acts as an intermediary that translates between the master arm's standardized joint outputs and the various slave arm configurations. This intermediary layer maintains the one-to-one correspondence benefit for intuitive manipulation while adapting to handle multiple slave arm types through parameter transformation and joint mapping.
Solution Approach 2:
The control system changes transformation parameters and joint mapping relationships based on the selected slave arm configuration. This allows the master arm to maintain its intuitive control characteristics while the control unit adapts the parameters to accommodate different slave arm joint structures and degrees of freedom.
Data Source
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AI summary
Provided is a medical system (100) including a first slave arm (6L, 6R); a master arm (11R) having a joint configuration with a structure similar to that of a joint configuration of the first slave arm; a second slave arm (6C); a manipulation-target switching unit (13) that switches a manipulation target to be manipulated with the master arm (11R) between the slave arms (6L, 6R; 6C); and a controller (3) that is capable of switching between a first control mode and a second control mode in accordance with the joint configuration of the slave arm to be controlled. The first control mode is a mode for controlling rotation of joints of the first slave arm on the basis of rotation amounts of joints of the master arm. The second control mode is a mode for controlling rotation of joints of the second slave arm on the basis of a movement of a predetermined section of the master arm.