Master-Slave Medical Arm Control Mode Switching
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Solution Overview
Problem
Existing medical systems with master and slave arms similar in structure face limitations in adjusting operating conditions, particularly in surgical operations requiring both coarse and precise movements, as the motion scale ratio is fixed based on the structural ratio, making it difficult to switch between large and minute motions effectively.
Innovation Solution
A medical system with a control unit that switches between a first control mode, where the entire slave arm follows the master arm's motion, and a second control mode, where only the distal end of the slave arm follows the distal end of the master arm, allowing for adjustable motion scale ratios and enabling both coarse and precise operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the motion scale ratio is fixed based on the structural ratio between master arm and slave arm, then the slave arm reproduces the master arm's motion accurately, but the operator cannot adjust the operating condition to switch between coarse and precise movements
Solution Approach 1:
The control system dynamically switches between two control modes based on operational needs. In the first control mode, the slave arm reproduces the master arm's motion with a motion scale ratio based on structural ratio for intuitive operation. In the second control mode, the system allows independent control of distal end position and orientation, enabling precise movements. This dynamic switching resolves the contradiction by making the motion scale ratio adjustable without permanently complicating the device structure.
Solution Approach 2:
The control unit is designed to perform multiple functions: it can operate in the first control mode for intuitive gross movements and in the second control mode for precise distal end manipulation. This multi-functionality allows a single system to adapt to different surgical requirements, providing both coarse and precise movement capabilities without requiring separate systems for each function.
2Ease of operation
If the operator focuses on the overall shape and orientation of the slave arm, then the positional relationship with peripheral tissues can be monitored, but the operator cannot focus exclusively on the distal end operation for intricate treatment
Solution Approach 1:
The control system segments the control objectives into two independent aspects: distal end position control and distal end orientation control. In the second control mode, the operator can independently adjust the distal end position while the system maintains or adjusts the overall slave arm configuration. This segmentation allows the operator to focus on distal end operations for intricate treatment while the system manages the overall position information, preventing complete loss of spatial awareness.
3Adaptability or versatility
If the slave arm structure is similar to the master arm structure, then intuitive operation is achieved, but the motion scale ratio cannot be changed to accommodate different surgical requirements
Solution Approach 1:
The control system dynamically adapts between two operational characteristics. In the first control mode, the slave arm maintains structural similarity to the master arm for intuitive operation. In the second control mode, the system decouples the distal end control to enable precise movements with adjustable motion scale ratios. This dynamic adaptation allows the system to maintain intuitive operation when needed while providing motion scale flexibility when required.
Data Source
AI summary
There is provided a medical system that includes a multi-joint slave arm; a master arm having a joint structure structurally similar to the slave arm; and a control unit that can switch between a first control mode for controlling the rotational motion of each joint of the slave arm on the basis of the amount of rotation of each joint of the master arm so that the slave arm takes a shape similar to the master arm and a second control mode for controlling the rotational motion of each joint of the slave arm on the basis of a displacement of a predetermined region of a distal end section of the master arm so that a predetermined region of a distal end section of the slave arm follows the movement of the predetermined region of the distal end section of the master arm.