Master-Slave Robot Control for Medical Workstation Alignment
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Solution Overview
Problem
Existing medical workstations with robots for medical devices and patient positioning lack efficient alignment mechanisms, leading to inconsistencies and increased effort in maintaining precise alignment between medical devices and patient beds during operations.
Innovation Solution
A medical workstation design featuring a master-slave control system between two robots, where one robot controls the medical device and another controls the patient bed, ensuring consistent alignment through coordinated movement and position feedback, allowing for flexible operation modes including fully automatic and manual control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If independent control devices are used for each robot, then operational flexibility is improved, but alignment precision between medical device and patient bed deteriorates
Solution Approach 1:
The control devices are coupled to form a master-slave system where the slave control device receives feedback from the master control device about the position and movement of the medical device robot, and automatically adjusts the patient bed robot's position to maintain precise alignment. This feedback mechanism enables both independent operation flexibility and synchronized alignment precision.
Solution Approach 2:
The control system is designed with multi-functionality to operate in different modes: fully automatic mode where the slave automatically follows the master, and manual mode where the slave can be independently controlled. This universal control architecture allows the system to adapt to different operational requirements while maintaining alignment precision through the coupled control devices.
2Ease of operation
If manual control is used for both robots, then operational flexibility is improved, but time consumption and collision risks increase
Solution Approach 1:
The control system dynamically switches between different operational modes based on the situation. In fully automatic mode, the slave robot automatically follows the master robot's movements, eliminating manual coordination time and reducing collision risks. In manual mode, operators can directly control both robots when needed. This dynamic adaptability optimizes both time efficiency and operational flexibility.
3Manufacturing precision
If complex alignment mechanisms are implemented, then alignment precision is improved, but device complexity increases
Solution Approach 1:
The coupled control devices act as intermediaries between the two independently controlled robots. Rather than implementing complex mechanical alignment mechanisms between the robots themselves, the control system mediates their coordination through the master-slave relationship, simplifying the physical system while maintaining precise alignment through intelligent control.
4Productivity
If fully automatic control is used, then productivity is improved, but adaptability to different operation modes deteriorates
Solution Approach 1:
The coupled control system is designed with universal functionality to support multiple operation modes: fully automatic mode for high productivity where the slave automatically follows the master, and manual mode for situations requiring direct operator control. The system can adapt between these modes as needed, maintaining both high productivity capability and operational flexibility.
Data Source
AI summary
The workstation has a patient support device (2) comprising a patient table (8) and a robot (31). A master control device (23) activates a slave control device (33) such that the slave control device moves into a robot arm (32) during motion of an attaching device (25) of another robot (21). The slave control device executes another motion for another attaching device (34) of the former robot. The patient table and an imaging medical apparatus (RE, RQ) i.e. X-ray device, are oriented relative to each other in a constant manner based on the latter motion of the slave control device.