Medical Robot Arm Interference Avoidance via Priority Control
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Solution Overview
Problem
Medical systems with redundant joint degrees of freedom require high-performance computing for real-time interference avoidance, leading to increased manufacturing costs and unstable operations.
Innovation Solution
A medical system with a controller that predicts interference, calculates priority degrees of each arm based on the severity of effects on a patient, and operates the arm with the highest priority to avoid interference, reducing computational load by keeping less critical arms inoperable.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If high-performance computing is used for real-time interference avoidance, then interference avoidance capability is improved, but manufacturing cost increases
Solution Approach 1:
The patent segments the control system into a control unit that manages multiple arms independently. Each arm is controlled separately with priority-based intervention, avoiding the need for a single high-performance computer to handle all calculations simultaneously. This segmentation reduces the computational burden on any single component and lowers overall manufacturing costs while maintaining interference avoidance capability.
Solution Approach 2:
The patent changes the parameter of computational complexity by implementing a priority-based control system that only performs interference avoidance calculations when necessary. Instead of continuously performing enormous real-time calculations, the system intervenes only when interference is detected and prioritizes which arm to control, significantly reducing the computational load and allowing for lower-cost hardware.
2Reliability
If enormous calculations are performed at high speed, then interference avoidance is improved, but operational stability deteriorates
Solution Approach 1:
The control system is segmented into modular components where the control unit independently manages each arm. This segmentation allows for simpler, more stable control algorithms that don't require complex real-time calculations across all arms simultaneously, reducing operational instability while maintaining effective interference avoidance through priority-based control.
Solution Approach 2:
The system performs partial interference avoidance by only controlling the arm with the highest priority when interference is detected, rather than attempting to coordinate all arms simultaneously. This partial action approach reduces computational complexity and operational instability while still achieving the goal of preventing interference through selective arm control.
3Reliability
If real-time interference avoidance is implemented for all arms, then interference avoidance is improved, but device complexity increases
Solution Approach 1:
The control system is divided into independent arm controllers managed by a central control unit. Each arm can be controlled independently with simple priority-based logic, avoiding the need for a complex unified control system that would require real-time coordination of all arms. This segmentation simplifies the overall device complexity while maintaining interference avoidance effectiveness.
Solution Approach 2:
The control strategy changes from complex real-time coordination of all arms to a simpler priority-based selective control approach. By changing the control parameter from simultaneous multi-arm coordination to sequential single-arm intervention based on priority, the device complexity is significantly reduced while maintaining the ability to avoid interference.
Data Source
AI summary
A medical system includes a plurality of arms including a joint group having a redundant degree of freedom. The plurality of arms is configured to move medical devices mounted on their free end. An operation portion is configured to input an operation command for operating the plurality of arms. A controller controls the plurality of arms based on the operation command from the operation portion. The controller includes one or more processor as a hardware. The processor configured to predict an interference between the plurality of arms, calculate degrees of priority of each of the plurality of arms based on severities of effects by the predicted interference on a patient, and operate a signal of the plurality of arms having highest degrees of priority. The signal is configured so that the plurality of arms can avoid the interference.