Medical Manipulator Interference Detection and Retraction Control
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Solution Overview
Problem
Medical manipulators face interference issues when the arm with joints is retracted relative to the overtube, leading to potential damage or unintended motion due to interference between the arm and the overtube, which existing technologies fail to adequately prevent.
Innovation Solution
A medical manipulator system equipped with an interference detector and a stopper mechanism that limits retraction movement when interference is detected, using force sensors and position detectors to regulate the advancement/retraction operation and prevent excessive load on the arm and overtube.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the arm with joints is retracted relative to the overtube to enable more complex procedures, then the capability to perform complicated procedures is improved, but the arm and overtube interfere with each other causing potential damage or unintended motion
Solution Approach 1:
The system performs preliminary detection of interference between the arm and overtube before retraction causes damage. The interference detector continuously monitors the relative position and detects interference states in advance, allowing the control unit to prevent harmful retraction movements before they occur.
Solution Approach 2:
The system implements a feedback mechanism where the interference detector provides real-time information about the arm-overtube interaction state to the control unit. Based on this feedback, the control unit dynamically adjusts the retraction operation, allowing safe retraction when no interference exists and preventing retraction when interference is detected.
2Productivity
If the arm is retracted further in an interfering state to maintain operation, then the procedure can continue, but the arm or treatment tool may be damaged or perform unintended motion
Solution Approach 1:
The system applies preliminary anti-action by detecting the interference state and immediately counteracting the harmful retraction movement. When interference is detected, the control unit prevents further retraction that would cause damage, effectively applying a counter-force to the harmful action before it can occur.
Solution Approach 2:
The system converts the potentially harmful interference condition into a beneficial safety signal. The interference detection mechanism transforms what could be a damaging situation into useful information that triggers protective action, allowing the system to use the interference detection itself as a protective mechanism.
3Reliability
If a stopper mechanism is added to limit retraction movement when interference is detected, then the risk of damage is reduced, but the device complexity increases
Solution Approach 1:
The system replaces complex mechanical stopper mechanisms with a control-based solution. Instead of physical stops that would require mechanical engagement and disengagement, the patent uses an electronic control unit that receives signals from the interference detector and automatically regulates the advancement/retraction driving unit, substituting mechanical complexity with electronic control.
Solution Approach 2:
The system implements self-service by having the interference detector and control unit automatically monitor and regulate the arm's movement without requiring external intervention. The system self-regulates the retraction operation based on detected interference conditions, eliminating the need for manual monitoring or external control mechanisms.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively prevents excessive load and damage by detecting interference and actuating the stopper to control the retraction movement, ensuring safe operation and reducing the risk of arm or overtube damage.
Implementation Method 1
an external force greater than or equal to a predetermined value acts on the joints
Implementation Method 2
the operation instruction unit limits retraction movement of the treatment tool with respect to the insertion aid device by actuating the stopper to regulate the operation of the advancement/retraction driving unit
Data Source
AI summary
A medical manipulator system includes: a treatment tool including an arm with joints and an end effector provided at a distal end of the arm; an insertion aid device; an advancement/retraction driving unit configured to drive the treatment tool to be advanced/retracted in the insertion aid device; an advancement/retraction operation unit configured to drive the advancement/retraction driving unit; a stopper configured to limit an operation of the advancement/retraction driving unit by actuation; an interference detector configured to be capable of detecting interference between an arm unit projected out of the insertion aid device and the insertion aid device; and an operation instruction unit configured to be capable of actuating the stopper. The operation instruction unit limits retraction movement of the treatment tool with respect to the insertion aid device by actuating the stopper.