Robotic Medical Motion Control for Constant Overshoot Under Network Delay
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Solution Overview
Problem
Existing robotic medical device systems face challenges in maintaining consistent movement and overshoot during procedures due to variations in control delays, particularly in network-based systems, which can affect the precision and reliability of minimally-invasive medical procedures.
Innovation Solution
A robotic medical device system with a controller that adjusts movement to maintain a constant overshoot and maximum overtravel distance, independent of control delays, using network-based control signals to compensate for variations in command and image feedback delays.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If network-based control signals are used for robotic medical device systems, then remote operation capability is improved, but control delay variations worsen
Solution Approach 1:
The controller pre-calculates and stores compensation values for expected delay variations before they occur. When a control signal is sent, the system applies pre-computed compensation based on predicted network conditions, allowing the robotic device to anticipate and counteract delays before they fully manifest, thus maintaining responsiveness despite network latency
Solution Approach 2:
The system continuously monitors actual control delays by comparing commanded positions with actual device positions and feedback timing. This real-time feedback loop allows the controller to dynamically adjust compensation parameters, velocity limits, and positioning commands to counteract observed delay variations, maintaining consistent performance despite network fluctuations
2Productivity
If control velocity is increased for faster device response, then productivity is improved, but overshoot and overtravel distance worsen
Solution Approach 1:
The system dynamically adjusts control velocity and acceleration profiles based on real-time conditions including delay measurements, device position, and commanded trajectory. Rather than using fixed velocity limits, the controller continuously adapts motion parameters to maintain optimal balance between speed and precision, reducing overshoot while preserving productive response times
Solution Approach 2:
The controller modifies control parameters such as velocity limits, acceleration rates, and damping coefficients based on measured delay characteristics and desired performance targets. By changing these parameters adaptively rather than using fixed values, the system maintains consistent overshoot behavior across varying network conditions while preserving fast response capability
3Manufacturing precision
If delay compensation is applied to maintain constant overshoot, then movement precision is improved, but control system complexity worsens
Solution Approach 1:
The system introduces an intermediate compensation layer between the high-level control commands and the low-level device actuation. This intermediary compensation module processes commands through delay prediction and correction algorithms, acting as a buffer that simplifies the overall control architecture while maintaining precision. The intermediary handles the complex delay compensation mathematics, isolating the main control logic from complexity
Data Source
AI summary
A robotic medical device system includes a robotic medical device and a controller. The controller is configured to control, in response to one or more control signals, movement of the robotic medical device to maintain a substantially constant overshoot for different step responses of the robotic medical device system independent of variations in a delay associated with control of the robotic medical device, the one or more control signals received via a network.