Master-Slave Control Offset for Surgical Magnification Shifts
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Solution Overview
Problem
In master-slave surgical systems with two pairs of units, changes in operation magnification can lead to improper control, resulting in operational errors such as unintended contact with the affected area, as the designated positions of the master and slave units may shift, disrupting the precision and accuracy required in surgeries.
Innovation Solution
A control device and system that includes a control unit capable of managing operation offsets to maintain constant designated positions of one pair of master and slave units while adjusting the other pair, ensuring seamless operation magnification changes without causing unintended contact, by calculating and applying operation offsets based on the ratio of movement amounts between the master and slave units.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If operation magnification is changed in a master-slave system with two pairs of units, then the operating area and control flexibility are improved, but the designated position of the master and slave units shifts causing operational errors
Solution Approach 1:
The control device calculates operation offsets based on the change in operation magnification and feeds this information back to adjust the designated position of the slave unit. This feedback mechanism ensures that when magnification changes, the system compensates by shifting the designated position accordingly, maintaining operational accuracy while allowing magnification adjustment.
Solution Approach 2:
The system dynamically changes the operation offset parameter in response to magnification changes. By adjusting this parameter, the control device maintains the relationship between master and slave unit positions even when operation magnification varies, thus preventing operational errors while preserving control flexibility.
2Reliability
If operation offset is adjusted to maintain designated position during magnification change, then operational accuracy is improved, but the control system complexity increases
Solution Approach 1:
The control device automatically calculates and applies the necessary operation offsets based on magnification changes without requiring external intervention. The system uses the magnification change information itself to determine the offset adjustment, making the control mechanism self-regulating and reducing the need for additional complex control structures.
Solution Approach 2:
The control device calculates the operation offset in advance based on the expected magnification change, and applies this offset before the actual magnification adjustment takes effect. This preliminary calculation and application of offsets ensures that the designated position is maintained throughout the transition, preventing operational errors without requiring complex real-time adjustments.
Data Source
AI summary
There is provided a control device including a control unit configured to control an operation offset that indicates a difference between a control reference point for a slave unit and a control reference point for a master unit on the basis of operation magnification indicating a ratio of a movement amount of the master unit to a movement amount of the slave unit, in which the control unit controls the operation offset for two pairs of master unit and slave unit according to a change in the operation magnification in a case where a designated position of a first pair of master unit and a slave unit of the two pairs of master units and the slave units is kept constant.