Medical Manipulator Control for Image Stability During Shaft Inclination
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Solution Overview
Problem
Current medical manipulators used in body cavities face challenges in efficiently moving treatment sections and imaging devices while maintaining image stability during inclinations, which can affect the precision and ease of surgical procedures.
Innovation Solution
A medical manipulator system with a movable insertion section, a treatment section, an auxiliary movable section, an imaging section, and a control unit that determines whether partial or entire movement conditions are required to move the treatment section to a specified position, allowing for precise positioning and image stabilization through a field-of-vision fixing or non-fixing mode.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the hollow shaft is inclined using the body wall as a support point to reach the target position, then the treatment section can be positioned accurately, but the imaging device position changes causing image instability
Solution Approach 1:
The patent combines the imaging device with the manipulator system such that they move together as an integrated unit. When the hollow shaft inclines to reach the target position, the imaging device follows the same movement trajectory, ensuring that the relative position between the treatment section and imaging device remains constant, thus maintaining image stability while achieving accurate positioning
Solution Approach 2:
The system uses feedback mechanisms to monitor the position and orientation of both the treatment section and imaging device. When the hollow shaft inclines, sensors detect the position change and adjust the imaging device accordingly to maintain proper alignment and image stability throughout the positioning process
2Ease of operation
If only the auxiliary movable section is moved for simple positioning tasks, then the operation is simple and quick, but it cannot achieve complex positioning requirements
Solution Approach 1:
The system implements dynamic control modes that allow the operator to switch between different movement configurations. For simple positioning, only the auxiliary movable section moves, providing quick and simple operation. For complex positioning, both the main movable section and auxiliary movable section move cooperatively, achieving versatile positioning capabilities while maintaining operational simplicity through adaptive control
3Adaptability or versatility
If both the main movable section and auxiliary movable section are moved to reach the target position, then complex positioning can be achieved, but the control complexity increases
Solution Approach 1:
The control system introduces an intermediary intelligence layer that automatically coordinates the movement of both the main movable section and auxiliary movable section. This intelligent mediator calculates the optimal movement paths and timing, managing the complexity of controlling multiple sections while enabling sophisticated positioning capabilities without burdening the operator with complex manual coordination
Data Source
AI summary
A medical manipulator includes: an insertion section having a main movable section and a distal end rigid section; a manipulator at which a treatment section is provided; an auxiliary movable section configured to move the treatment section; an imaging section configured to acquire an image in a field-of-vision range; a manipulation unit configured to output an instruction that specifies a position to which the treatment section is moved; a display configured to display the image; a determination unit configured to determine whether a condition is a partial movement condition or an entire movement condition when the determination unit receives the instruction; and a driving unit configured to drive the auxiliary movable section, the main movable section, and the imaging section based on determination of the determination unit.