Medical Support Arm Motion Restriction Using Safe Position Control
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Solution Overview
Problem
Existing medical supporting arms face challenges in ensuring safe operation, as manual operation can lead to unintended contact with patients or practitioners, requiring reliance on visual and tactile senses for safety and operability.
Innovation Solution
A medical supporting arm control apparatus that employs whole body cooperative control using generalized inverse dynamics and ideal joint control to restrict and stabilize arm movement, incorporating torque sensors and actuators to enhance safety and precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual operation of medical arm is used, then ease of operation is improved, but safety deteriorates due to potential unintended contact with patients or practitioners
Solution Approach 1:
The control device continuously monitors arm position, operation commands, and environmental data, comparing actual state with safe operation parameters to dynamically adjust control signals and prevent unsafe movements while maintaining intuitive manual operation
Solution Approach 2:
The control device acts as an intermediary between the operator and the medical arm, introducing a safety layer that processes operation commands and arm state information to determine whether to permit or restrict movement, thereby ensuring safety without eliminating manual operability
2Reliability
If operation restriction control is implemented, then safety is improved, but device complexity increases due to additional control mechanisms
Solution Approach 1:
The control device performs multiple functions including safety monitoring, operation restriction determination, and dynamic control signal generation using integrated processing units that handle both safety logic and operational control within a single system architecture
Solution Approach 2:
The control device autonomously determines whether to restrict operations by evaluating arm state, operation commands, and environmental data without requiring external intervention, making safety decisions independently based on pre-programmed safety criteria
3Reliability
If dynamic control signal adjustment is applied, then safety response capability is improved, but processing requirements and system complexity increase
Solution Approach 1:
The control device dynamically adjusts control signals in real-time based on current arm position, operation commands, and environmental conditions, transitioning between permissive and restrictive control modes as safety conditions change during operation
Data Source
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AI summary
An object of the invention of the present application is to provide a medical supporting arm control apparatus that restricts an operation of a medical supporting arm apparatus. A medical supporting arm control apparatus (20) according to the present disclosure includes: a position acquisition section (241) configured to detect a spatial position of an operating point on a multi-link structure (120) configured by coupling a plurality of links by a joint section; a comparison section (270) configured to compare a movable region of the operating point with the spatial position, the movable region being set in advance; and an operation restriction section (272) configured to restrict an operation of the operating point on a basis of a result of the comparison. According to this configuration, it is possible to restrict the operation of the medical supporting arm apparatus.