Medical Holding Device Arm Posture Control
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Solution Overview
Problem
Users of electronic-imaging-type medical observation devices face reduced arm mobility due to the arm's posture, making it difficult to capture desired imaging ranges without manually changing the arm's posture, and similarly, medical holding devices struggle to move medical instruments freely, affecting user convenience.
Innovation Solution
A medical holding and observation device with an arm configured by coupling links with at least seven degrees of freedom through rotational operations, featuring six passive and one active rotation axis, controlled by an arm controller to avoid predetermined postures and maintain operational freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the arm is designed with multiple degrees of freedom to support medical instruments, then the adaptability and positioning capability are improved, but the arm mobility is reduced due to posture restrictions
Solution Approach 1:
The system dynamically adjusts the arm configuration by actively rotating specific axes to avoid singular or restricted postures. The arm controller continuously monitors arm posture and automatically rotates the active rotation axis when a restricted posture is detected, maintaining optimal mobility while preserving the multi-DOF positioning capability.
2Adaptability or versatility
If the arm controller manually changes the arm posture to capture desired imaging ranges, then the imaging flexibility is improved, but the user convenience and operational efficiency are reduced
Solution Approach 1:
The arm controller performs self-adjustment by automatically detecting restricted postures and rotating the active axis to resolve the restriction. This self-service mechanism eliminates the need for manual intervention by the user, maintaining imaging flexibility while significantly reducing the time and effort required for posture adjustments.
3Adaptability or versatility
If the arm is designed with seven or more degrees of freedom, then the operational freedom is improved, but the device complexity increases
Solution Approach 1:
The arm is segmented into multiple independent rotation axes, with six passive axes and one active axis. This segmentation allows the complex 7-DOF system to be managed as separate, controllable units, where only the active axis requires complex control logic while the passive axes follow simpler motion patterns, reducing overall system complexity.
Solution Approach 2:
The arm controller acts as an intermediary that manages the complexity of the 7-DOF system. It monitors the combined state of all axes and intervenes only when necessary by rotating the active axis, thereby managing the operational freedom of the complex system without requiring proportional increases in control complexity.
Data Source
AI summary
A medical holding device includes: an arm configured by coupling a plurality of links to each other by joints, the arm having at least seven or more degrees of freedom by rotational operations on rotation axes, and being configured to support a medical instrument; and an arm controller configured to control an operation of the arm. The arm has six degrees of freedom realized by rotational operations of six passive rotation axes that passively rotate and one or more degrees of freedom realized by rotational operations of one or more active rotation axes that actively rotate, and the arm controller is configured to rotate the active rotation axis so as to avoid a predetermined state of a posture of the arm.