Robotic Observation Instrument Control With Constant-Distance Pivoting
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Solution Overview
Problem
Existing medical handling systems lack intuitive and error-free control mechanisms for instruments, particularly observation instruments, which are not handheld or hand-guided, leading to potential operating errors and distractions during medical procedures.
Innovation Solution
A medical handling device with a robotic handling unit and a one-handed multi-axis input device allows for intuitive control of observation instruments by maintaining a constant object distance and orientation, enabling movements along a curved path, such as a spherical surface, using a pivot point to align the instrument's image sensor with the object plane, and integrating instrument and handling unit controls to simplify operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple separate control devices are used for handling unit and instrument, then control functionality is comprehensive, but operation complexity increases and error risk rises
Solution Approach 1:
The patent combines the handling control unit and instrument control unit into a single integrated control device. The handling control unit receives commands for the robotic handling unit, while the instrument control unit receives commands for the observation instrument, both within the same control device. This integration reduces the number of separate control devices from two to one, simplifying operation while maintaining comprehensive control functionality for both the handling unit and the instrument.
Solution Approach 2:
The control device is designed with multi-functional capability, where a single device performs both handling control and instrument control functions. The control device can switch between different control modes (handling control mode and instrument control mode) to accommodate different operational requirements, making it a universal control solution that replaces multiple specialized devices.
2Ease of operation
If one-handed multi-axis input device is used, then ease of operation improves, but control precision may be reduced
Solution Approach 1:
The patent employs a one-handed multi-axis input device that operates in three-dimensional space, allowing the operator to control both the handling unit and instrument using spatial movements rather than sequential button presses. The input device detects movements along multiple axes (X, Y, Z directions and rotational axes), converting three-dimensional physical gestures into control commands. This dimensional approach maintains precision by capturing nuanced spatial information while enabling one-handed operation.
Solution Approach 2:
The system incorporates feedback mechanisms where the control device receives input from the one-handed multi-axis input device and processes these inputs through coordinate transformations and orientation alignments. The feedback loop ensures that the intended movement direction and magnitude are accurately translated into instrument and handling unit movements, maintaining control precision despite the simplified one-handed interface.
3Measurement precision
If instrument orientation is constantly adjusted during movement, then imaging accuracy improves, but control complexity increases
Solution Approach 1:
The patent implements preliminary action by detecting the given orientation of the observation instrument before executing movement commands. The control device stores this initial orientation information and uses it as a reference during subsequent movements. By pre-detecting and memorizing the starting orientation, the system can automatically maintain proper alignment during movement without requiring continuous manual adjustment, thus reducing control complexity while preserving imaging accuracy.
Solution Approach 2:
The system employs self-service mechanisms where the control device automatically handles orientation maintenance during instrument movement. The handling control unit controls the robotic handling unit to move the observation instrument while the instrument control unit maintains the given orientation of the image sensor throughout the movement. This automatic orientation preservation eliminates the need for manual intervention, reducing control complexity while ensuring imaging accuracy is maintained.
Data Source
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AI summary
The disclosure relates to a medical handling device with an instrument holder (40) for receiving an observation instrument (38) with an image sensor (118) for capturing a section of an image (116) of an object plane (16); a robotic handling unit (34) carrying the instrument holder (40); a control device (44) with a handling control unit (46) for controlling the robotic handling unit (34) and an instrument control unit (48) for controlling the observation instrument (38);and an input device (50) coupled to the control unit (44) for selecting a section of the image (116) to be reproduced, wherein the control unit (44) is configured to detect a given orientation of the observation instrument (38), and wherein the control unit (44) is configured to control the robotic handling unit (34) taking into account the given orientation of the observation instrument (38) in response to operator inputs at the input device (50) such that the observation instrument (38) is movable along a curved path (198, 200) with respect to a pivot point (194, 214) in the object plane (16) at a defined, preferably constant, object distance (196). The disclosure further relates to a method for controlling a handling device (10).