Medical Manipulator Synchronized Tool Movement Control
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Solution Overview
Problem
Existing medical manipulators face challenges in effectively utilizing flexible medical treatment tools by accurately controlling their movement and orientation within medical treatment channels, particularly in ensuring that the proximal-end and distal-end sections of the tool move in synchrony, which is crucial for precise medical procedures.
Innovation Solution
A medical manipulator design that includes a body section, an elongate insertion section, a channel for the tool, a movement detection mechanism, and a drive system that rotates contact sections to match the detected movement, allowing for synchronized movement of the tool within the channel, thereby enabling precise control and reducing user burden.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple motors are used to control proximal-end and distal-end sections independently, then movement control precision is improved, but device complexity increases
Solution Approach 1:
The patent combines the control functions of proximal-end and distal-end sections into a single motor system. The first motor rotates the first contact section to move the proximal-end of the medical treatment tool, while the second motor rotates the second contact section to move the distal-end. By coordinating these two motors through a control unit that detects tool position and orientation, the system achieves precise synchronized control without requiring completely independent motor systems for each section, thus balancing control precision with device complexity.
2Length of moving object
If the insertion section is made elongate with minimal components, then insertion capability is improved, but control authority over the tool is reduced
Solution Approach 1:
The patent divides the insertion section into functionally distinct segments: the first contact section located in the body section for proximal-end tool manipulation, and the second contact section located in the insertion section for distal-end tool manipulation. This segmentation allows the elongate insertion section to maintain its space-saving design while still incorporating necessary control components (the second contact section and second motor) at strategic positions to preserve control authority over the medical treatment tool.
3Area of moving object
If the insertion section diameter is minimized, then insertion ease is improved, but space for internal components is reduced
Solution Approach 1:
The patent employs a nested arrangement where the second motor and second contact section are integrated within the elongate insertion section in a space-efficient manner. The contact sections are positioned to rotate about axes parallel to the channel axis, allowing compact integration of rotational mechanisms within the constrained diameter of the insertion section. This nesting approach minimizes the insertion section diameter while still accommodating the necessary motors and contact sections for dual-point tool control.
Data Source
AI summary
This medical manipulator includes a body section, an insertion section, a channel, a movement amount detection section configured to detect an amount of movement of a medical treatment tool inserted through a body-side channel provided in the body section, a distal-end-side contact section provided to be in contact with the medical treatment tool inserted through an insertion-side channel arranged in the insertion section and configured to rotate about its own axis to move the medical treatment tool, a first drive section configured to rotate the distal-end-side contact section. The distal-end-side contact section is rotated so as to move the medical treatment tool with respect to the insertion-side channel by an amount of movement which is the same as the amount of movement detected by the movement amount detection section.