Medical Manipulator Control for Master-Slave Alignment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing medical manipulator systems require a large-scale master-side operating section with a motor to eliminate position/orientation differences between the master and slave devices, which is cumbersome and costly.
Innovation Solution
A medical manipulator system with a control unit that uses a switch-operated operating section to control the slave-side medical manipulator, performing a first motion for small deviations and a second motion for larger deviations, allowing the slave to align with the operator's intent without a motorized master-side section, and including an alarm to inform the operator of alignment status.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a motorized master-side operating section is used to eliminate position/orientation differences, then the alignment accuracy is improved, but the device complexity and cost increase
Solution Approach 1:
Instead of moving the master-side operating section to eliminate position/orientation differences, the patent inverts the approach by moving the slave-side medical manipulator to align with the master side. This eliminates the need for complex motorized mechanisms on the master side while achieving the same alignment objective.
Solution Approach 2:
The patent extracts the motorized actuation mechanism from the master-side operating section and relocates it to the slave-side medical manipulator. This removes the complexity and cost burden from the master side while maintaining the capability to eliminate position/orientation differences.
2Device complexity
If the slave manipulator is moved to eliminate position/orientation differences, then the device complexity is reduced, but the operator's intuitive control may be disrupted
Solution Approach 1:
The patent implements dynamic control modes that adapt to the operational context. When position/orientation differences are detected, the system automatically switches to a mode where the slave manipulator moves to align with the master side. When aligned, it returns to normal master-slave control mode, maintaining operational intuitiveness.
Solution Approach 2:
The system continuously monitors the position and orientation relationship between the master and slave devices. Based on this feedback, it determines whether to activate the alignment mode (where slave moves to match master) or maintain normal operation mode, ensuring the operator's control intentions are always respected.
3Speed
If the slave manipulator automatically aligns with the master side, then the alignment speed is improved, but the risk of interference with the body increases
Solution Approach 1:
The control unit continuously monitors not only the position/orientation difference but also the operational state of the slave manipulator. Before executing alignment motion, it checks whether the slave is in a safe state (not contacting or interfering with the body). The alignment motion is only permitted when safety conditions are met, preventing harmful interference while maintaining alignment capability.
Solution Approach 2:
The system dynamically adjusts the alignment behavior based on real-time conditions. When the slave manipulator is in contact with or near the body, the alignment function is disabled or modified to prevent interference. When clear of the body, full alignment capability is restored, optimizing both safety and alignment performance.
Data Source
AI summary
A medical manipulator system including: a medical manipulator having a joint; an operating section having an operating system; and a control unit controlling the medical manipulator according to an operation applied to the operating section. The operating section includes a switch enters or releases a command. The control unit determines whether a deviation between the joint and the operating system exceeds a threshold while the command is entered, carries out a first motion for moving the joint by a displacement corresponding to the displacement of the operating system if the deviation is equal to or smaller than the threshold, carries out a second motion for approaching the joint to the operating system angle if the deviation exceeds the threshold, and stops the motion for approaching the joint to the operating system angle when the command is released when the deviation exceeds the threshold.