Medical Master/Slave Control Mode Switching for Endoscopic Operability
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Solution Overview
Problem
The existing medical master/slave system experiences poor operability when the slave apparatus is folded back, as the direction of operation of the master apparatus differs from the direction of movement on the endoscopic screen display, leading to inefficiencies in control and potential interference.
Innovation Solution
The system introduces an ordinary actuation mode and a reversal actuation mode, where the slave apparatus is actuated to be similar or reversed relative to the master apparatus, with a transition mode to adjust between these states, and restricts operation if interference occurs, ensuring the master apparatus's operation aligns with the screen display direction and preventing self-interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the slave apparatus is folded back during endoscopic procedures, then the master apparatus operation direction differs from the screen display direction, but this causes poor operability and control inefficiency
Solution Approach 1:
The system dynamically switches between ordinary actuation mode and reversal actuation mode based on the slave apparatus configuration. When the slave apparatus is folded back, the system automatically transitions to reversal mode where the master apparatus operation is inverted to match the screen display direction, ensuring consistent operability regardless of apparatus configuration
Solution Approach 2:
The system changes the actuation parameter (operation direction) based on the slave apparatus state. By detecting whether the slave apparatus is folded back or in normal configuration, the system adjusts the control parameter to either ordinary or reversal mode, maintaining optimal operability across different operational states
2Ease of operation
If the slave apparatus is actuated in reversal mode, then the operation direction aligns with screen display, but the reversing portion may interfere with the rest of the apparatus
Solution Approach 1:
The system continuously monitors the bending state of the slave apparatus and provides feedback to the control unit. When reversal mode is detected or selected, the system uses this feedback to determine whether the reversing portion would interfere with other parts, automatically restricting operation to prevent self-interference while maintaining control alignment
Solution Approach 2:
Before allowing reversal mode operation, the system performs a preliminary check to detect potential interference between the reversing portion and other apparatus components. If interference is predicted, the system preemptively restricts the operation range in reversal mode to prevent harmful contact, ensuring safe operation
3Adaptability or versatility
If the system transitions between ordinary and reversal actuation modes, then adaptability improves, but the transition process requires precise positioning to avoid interference
Solution Approach 1:
Before transitioning between actuation modes, the system performs preliminary positioning of the master apparatus to an initial position. This preliminary action ensures that the slave apparatus is properly configured for the target mode before full operation begins, preventing interference during the transition process while maintaining mode flexibility
Data Source
AI summary
A method of controlling the medical master/slave system comprising a bendable master apparatus operated by an operator and a slave apparatus inserted through the body. The control method includes an ordinary actuation mode (Step S101) in which, based on a bending state of the master apparatus, the slave apparatus is actuated in such a way as to become similar in operation to the master apparatus, a reversal actuation mode (Step S105) in which, based on a bending state of the master apparatus, the slave apparatus is actuated in such a way as to be reversed relative to the operation of the master apparatus, and a transition mode (Step S103, S104, S107, S108) for transition between the ordinary actuation mode and the reversal actuation mode.