Parallel Robot with Arc Guides for Safe Brain Stimulation
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Solution Overview
Problem
Existing brain stimulation technologies face challenges in precision and safety due to manual manipulation, leading to reduced reproducibility and risk of impact on the human head during control failures.
Innovation Solution
A parallel-type robot with a structure that ensures high drive speed and safety by using drive modules with arc-shaped guide members and universal joints, allowing the end-effector to move with low inertia, coupled with a bio-stimulation system that includes a stimulator for precise positioning and angle control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a conventional industrial robot with 6-degrees of freedom serial robot arm is used, then brain stimulation precision is improved, but safety deteriorates due to risk of impact on human head upon control failure
Solution Approach 1:
The robot arm is divided into multiple serial segments (first robot arm, second robot arm, third robot arm) connected by rotation joints, allowing independent control of each segment to achieve precise positioning while reducing the inertia and impact risk of the entire system
Solution Approach 2:
The robot uses rotation joints with controllable rotation speeds and reduction gear ratios that can be dynamically adjusted. The control unit limits rotation speeds to prevent excessive momentum buildup, and can rapidly stop movement upon detecting patient motion, resolving the contradiction between precision positioning and safety
2Reliability
If the robot is driven at low speed with high reduction gear ratio to secure safety, then safety is improved, but the ability to follow patient's sudden motion deteriorates
Solution Approach 1:
The control unit continuously monitors the position and motion state of the patient's head, and dynamically adjusts the robot's rotation speeds and positions in real-time. When patient motion is detected, the system rapidly responds by stopping or adjusting movement, enabling both safety and responsiveness to sudden motions
Solution Approach 2:
The reduction gear ratios and rotation speeds are not fixed but can be dynamically controlled. The system uses variable speed control to maintain low speeds during normal operation for safety, while capable of rapid acceleration and deceleration when patient motion is detected, resolving the contradiction between safety and responsiveness
3Ease of operation
If manual manipulation is used for controlling stimulation positions and angles, then ease of operation is improved, but measurement precision deteriorates resulting in reduced reproducibility
Solution Approach 1:
The robot system automatically performs precise positioning and angle control of the stimulator based on pre-programmed coordinates and control algorithms. The control unit calculates the required positions and autonomously adjusts the robot arm segments and stimulator orientation, eliminating manual manipulation errors while maintaining ease of operation through automated control
Solution Approach 2:
The patent replaces manual mechanical manipulation with an automated robotic system controlled by a control unit. The robot uses sensors, motors, and control algorithms to automatically position the stimulator with high precision, substituting human manual control with an automated electromechanical system that provides both ease of operation and high precision
Data Source
AI summary
A bio-stimulation robot includes a stationary platform, a plurality of drive modules coupled to the stationary platform, and a motion platform coupled to the drive modules to operate to change a position of the motion platform. Each of the drive modules includes a first guide member having an arc shape, a motion member coupled to the first guide, and a leg member having a first end coupled to the motion member and a second end fixed to the motion platform. The motion member slides along the first guide member. The second end of the leg member is rotatably connected to the motion platform. The second end of the leg member is rotatably connected to the motion platform.