Medical Robot Arm Targeting via Relative Bed Movement
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Solution Overview
Problem
Current medical robots for radiation therapy face challenges in accurately and rapidly targeting treatment areas, often requiring complex control systems and multiple drive members, which can lead to increased weight and potential collisions between robot arm units.
Innovation Solution
A medical robot design featuring a bed and robot arm units with independent, incoherent movements, allowing for precise targeting through relative vertical and horizontal movements, with a compact structure that reduces the number of drive members and prevents collisions by using link members and drive members disposed on concentric spheres with emitting members positioned to face a common target point.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple drive members are used in robot arm units, then positioning accuracy and coverage are improved, but device weight and complexity increase
Solution Approach 1:
The patent combines multiple drive members into a integrated drive unit that controls both the robot arm and bed movement. This merging reduces the total number of separate drive members while maintaining the capability to achieve precise positioning through coordinated movement of the robot arm and bed, thereby resolving the contradiction between positioning accuracy and device complexity
Solution Approach 2:
The robot arm unit is designed with multi-functionality where a single drive mechanism can achieve both radial movement of the robot arm and positional adjustment of the bed. This universal drive system performs multiple functions simultaneously, reducing overall device complexity while preserving positioning accuracy through coordinated control
2Adaptability or versatility
If multiple robot arm units are used to increase treatment coverage, then treatment versatility is improved, but risk of mutual collision increases
Solution Approach 1:
The control unit implements feedback control that continuously monitors the positions and movement trajectories of multiple robot arm units. By receiving real-time position information and calculating potential collision risks, the system can adjust movement paths and speeds dynamically, ensuring safe operation while maintaining full treatment coverage versatility
Solution Approach 2:
The robot arm units are designed with dynamic movement capabilities where each arm can independently adjust its trajectory and speed based on real-time conditions. This dynamic control allows multiple arms to operate in close proximity without collision while maintaining the ability to reach all treatment areas, resolving the contradiction between versatility and collision risk
3Productivity
If complex control systems are used to achieve rapid and accurate targeting, then treatment speed and precision are improved, but device complexity and weight increase
Solution Approach 1:
The control unit pre-calculates optimal movement trajectories and coordinates for the robot arm and bed before treatment begins. By performing preliminary path planning and coordinate transformation, the system achieves rapid and accurate targeting without requiring complex real-time control calculations during treatment, thereby improving treatment speed while keeping the control system manageable
Data Source
AI summary
A medical robot includes a bed on which an object is to be disposed, and a robot arm unit disposed above or below the bed, and including an emitting member movable within a trajectory on a sphere having a center at which a target point is disposed, wherein the bed and the robot arm unit may move relatively in a vertical or horizontal direction, and the object may be repositioned to the target point by relatively moving the bed and the robot arm unit in the vertical or horizontal direction, and the emitting member may move to face the target point.