Robotic Surgical Operation Unit Braking for Precise Positioning
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic surgical systems struggle to accurately stop the operation unit at the intended position due to the assistance of motor force in reducing operator effort, leading to potential overshoot and unintended movement.
Innovation Solution
Incorporating a drive mechanism in the operation unit that assists the operator's operation and a controller programmed to exert a braking force during deceleration and acceleration, thereby reducing overshoot and unintended movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the motor generates force to assist the operator's operation and lighten the operation effort, then the ease of operation is improved, but the operation unit cannot be stopped at the appropriate position due to overshoot and inertia
Solution Approach 1:
The controller applies a braking force in advance during deceleration and acceleration phases to counteract the inertia and reaction forces generated by the motor assistance. This preliminary anti-action prevents overshoot before it occurs, allowing the operation unit to stop accurately at the intended position while maintaining motor assistance for lightening operator effort.
Solution Approach 2:
The system dynamically adjusts the motor's force output based on the operational phase. During normal operation, the motor provides assistance to lighten operator effort. During deceleration and acceleration, the controller dynamically switches to applying braking force to maintain positioning accuracy. This dynamic adaptation resolves the contradiction between ease of operation and positioning precision.
2Ease of operation
If the motor provides continuous assistance to compensate for friction and gravity, then the ease of operation is improved, but unintended movement occurs during sudden stops due to reaction force
Solution Approach 1:
The controller anticipates sudden stops and applies braking force during the deceleration phase to counteract the reaction force generated by the motor assistance. This preliminary anti-action prevents unintended movement before it occurs, maintaining both operation smoothness and movement control reliability.
Solution Approach 2:
The controller continuously monitors the operational state and provides feedback to adjust the motor's force output. When deceleration or sudden stop is detected, the feedback mechanism triggers braking force application to prevent unintended movement, while maintaining motor assistance during normal operation for smoothness.
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 solution effectively reduces overshoot and unintended movement by applying a braking force during deceleration and acceleration, allowing the operation unit to be accurately stopped at the intended position.
Implementation Method 1
overshoot caused by the inertia of the operation unit when an operator tries to stop the operation unit suddenly
Implementation Method 2
movement of the operation unit due to a reaction caused when the operation unit is suddenly stopped
Data Source
AI summary
In a robotic surgical system, an operation unit includes a drive to assist an operation of an operator. A controller is configured or programmed to control the drive to exert a braking force when the operation on the operation unit is decelerated and/or accelerated.