Medical Robot Arm Force Control for Stable Camera Positioning
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Solution Overview
Problem
Medical robot arm apparatuses face challenges in achieving high stability and operability for medical procedures, particularly in maintaining balance and securing task space while reducing user burden, as existing systems often require counterbalance weights and manual positioning, limiting their ability to perform complex movements and maintain precision.
Innovation Solution
A medical robot arm apparatus with a multi-link structure providing at least 6 degrees of freedom, utilizing a drive control unit to control joint units based on detected states and employing whole body cooperative control through generalized inverse dynamics for precise positioning and force control, allowing for high-degree freedom movement and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a counterbalance weight is equipped in the balance arm to maintain force balance, then the force balance is improved, but the device size increases
Solution Approach 1:
The patent replaces the mechanical counterbalance weight system with an electric driving system. The balance arm is equipped with a motor that provides electric driving force to maintain balance and enable movement, eliminating the need for physical counterbalance weights and reducing device size while maintaining force balance capability
Solution Approach 2:
The patent changes the control parameter from passive mechanical balancing to active electric control. By using a motor with controllable output torque, the system can dynamically adjust the balancing force according to the arm's position and load, providing more flexible and precise force balance without increasing device volume
2Device complexity
If manual positioning is used for movement of the arm unit, then the device complexity is reduced, but the positioning accuracy deteriorates
Solution Approach 1:
The patent replaces manual positioning with an electric driving system that uses a motor to control the arm unit's movement. This substitution provides precise positioning accuracy through electronic control while maintaining relatively simple device structure, achieving both goals simultaneously
Solution Approach 2:
The electric driving system enables the balance arm to automatically position itself without requiring manual intervention. The motor controller can autonomously adjust the arm's position based on feedback signals, improving positioning accuracy while reducing the complexity of manual operation mechanisms
3Device complexity
If position control is used for driving the robot apparatus, then the system configuration is simplified, but the ability to deal with external force deteriorates
Solution Approach 1:
The patent implements dynamic control by enabling the balance arm to transition between position control and force control modes. The system can adaptively adjust its control characteristics based on the operational requirements, allowing it to handle external forces effectively while maintaining a relatively simple system configuration through a unified control architecture
Data Source
AI summary
Provided is a surgical imaging apparatus that includes a multi-link, multi joint structure including a plurality of joints that interconnect a plurality of links to provide the multi-link, multi joint structure with a plurality of degrees of freedom, at least one video camera being disposed on a distal end of the multi-link, multi-joint structure; at least one actuator that drives at least one of the plurality of joints; and circuitry that detects a joint force experienced at the at least one of the plurality of joints in response to an applied external force, and controls the at least one actuator based on the joint force so as to position the video camera.