Microsurgical Manipulator Control for Stable Forceps Tip Position
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The existing fine work manipulator with a parallel link mechanism has a limited operable range, restricting movement in two directions perpendicular to the radius, which affects the precision and continuity of microsurgical procedures, as it cannot translate in these directions, leading to displacement of the forceps tip and reduced operating range.
Innovation Solution
A fine work device with a manipulator and robot unit configured for six degrees of freedom, where the robot unit has three rotational and one radial translation degree of freedom, and a control device that calculates and controls the drive amounts to maintain the operating position of the forceps, ensuring a wider operating range without positional variation during microsurgical procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot unit is moved to ensure the parallel link mechanism is at the initial position, then the operating range for the forceps is ensured, but the tip of the forceps experiences displacement due to inability to translate in two directions perpendicular to the radius
Solution Approach 1:
The control device calculates and adjusts drive amounts for both the robot unit and parallel link mechanism based on the target tip position, dynamically changing the operational parameters to compensate for the robot unit's limited translation capability and maintain tip position accuracy
Solution Approach 2:
The system combines the robot unit's three rotational degrees of freedom with the parallel link mechanism's six degrees of freedom, creating a unified system that achieves both wide operating range through robot unit rotation and precise tip positioning through coordinated parallel link mechanism operation
2Volume of moving object
If the robot unit is configured with four degrees of freedom to reduce size, then the device compactness is improved, but the translation movement in two directions perpendicular to the radius is lost
Solution Approach 1:
The system compensates for the lost translation capability by utilizing rotational movements in three-dimensional space. The robot unit's three rotational degrees of freedom allow it to achieve positioning in multiple directions through rotation rather than direct translation, effectively compensating for the reduced dimensional mobility
Solution Approach 2:
The parallel link mechanism acts as an intermediary that translates the robot unit's rotational movements into precise tip positioning. It bridges the gap between the robot unit's limited four degrees of freedom and the six degrees of freedom required for complete spatial manipulation, enabling translation capability without adding translation actuators to the robot unit
3Measurement precision
If the parallel link mechanism is operated to correct tip displacement, then the tip position accuracy is maintained, but the operating range may be restricted
Solution Approach 1:
The control device merges the operations of the robot unit and parallel link mechanism into a coordinated system. Both components work together simultaneously, with the robot unit providing broad positioning through rotation and the parallel link mechanism providing fine-tuned tip positioning, thereby achieving both wide operating range and high precision without compromise
Data Source
AI summary
An operating range for fine work while suppressing, as much as possible, variations of the position at which the fine work is performed. A control unit of a fine work device: accepts input of the movement of a position of a tip of a fine work manipulator, the position being a fine-work operating position; calculates, with the operating position serving as a target position, driving amounts for the fine work manipulator and a robot unit, and controls operations of the fine work manipulator and the robot unit on the basis of the driving amounts.