Segmented Medical Manipulator Input Device for Intuitive Control
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Solution Overview
Problem
Existing medical manipulator systems lack intuitive and precise control mechanisms for manipulating medical instruments with six degrees of freedom, particularly in navigating the complex movements required within body cavities, where friction and space constraints limit movement resolution and intuitive operation.
Innovation Solution
An operation input device comprising a first operation portion for precise control using the palm or fingers to drive the distal-end-side moving portion, and a second operation portion for coarse control using the wrist or arm to drive the proximal-end-side moving portion, allowing separate and intuitive input of operation commands for precise positioning and large-scale movement of medical instruments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single operation portion is used to control all moving portions, then the device structure is simple, but the operation precision and intuitiveness deteriorate
Solution Approach 1:
The operation input device is divided into multiple operation portions (first operation portion for distal-end-side moving portion, second operation portion for proximal-end-side moving portion). Each operation portion independently controls different moving portions of the medical manipulator, allowing precise and intuitive control of each segment separately while maintaining overall system functionality.
2Manufacturing precision
If the distal-end-side moving portion is controlled with high precision, then the positioning accuracy is improved, but the operation complexity increases
Solution Approach 1:
The control mechanism is segmented into two independent control systems: the first operation portion controls the distal-end-side moving portion with high precision for accurate positioning, while the second operation portion controls the proximal-end-side moving portion for coarse positioning. This segmentation allows high positioning accuracy without requiring the entire system to be overly complex.
3Adaptability or versatility
If the medical manipulator navigates through body cavities with friction and space constraints, then the adaptability to surgical environments is improved, but the movement resolution deteriorates
Solution Approach 1:
The medical manipulator is divided into proximal-end-side and distal-end-side moving portions that can be controlled independently. The distal-end-side moving portion can be precisely controlled to overcome friction and space constraints in body cavities, while the proximal-end-side moving portion provides stable support and coarse positioning, maintaining movement resolution despite environmental challenges.
4Ease of operation
If separate operation portions are used for distal and proximal moving portions, then the operation intuitiveness is improved, but the device complexity increases
Solution Approach 1:
The operation input device uses segmented control where the first operation portion (gripped by fingers) controls the distal-end-side moving portion for intuitive fine movements, and the second operation portion (operated by wrist or arm) controls the proximal-end-side moving portion for intuitive coarse movements. This segmentation mirrors natural human movement patterns, improving intuitiveness while keeping the device structure manageable.
Data Source
AI summary
Provided is an operation input device for inputting an operation command to a medical manipulator having a distal-end-side moving portion having at least one joint on a distal end and a proximal-end-side moving portion that is connected to a proximal-end side of the distal-end-side moving portion and moves the distal-end-side moving portion, and the operation input device includes a first operation portion that generates a moving command for driving the distal-end-side moving portion in accordance with an operation command input with a palm or a finger and a second operation portion that is linked to the first operation portion and generates the moving command for driving the proximal-end-side moving portion in accordance with an operation command input with a wrist or an arm.