Spherical Robot Arm Positioning for Subject-Movement Compensation
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Solution Overview
Problem
Existing systems for positioning scientific or medical tools, such as those used in Transcranial Magnetic Stimulation (TMS), suffer from inaccuracies due to operator fatigue and subject movements, lack of automation, and are cumbersome and expensive, failing to consistently achieve precise placement and orientation.
Innovation Solution
An articulated positioning system with a spherical robot arm assembly and a tool-holding assembly that allows for precise positioning and orientation of tools relative to a subject's head, utilizing a robotized arm assembly with pivoting and translating mechanisms to maintain accurate placement despite subject movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual positioning by operator is used, then flexibility and adaptability are maintained, but positioning accuracy deteriorates due to operator fatigue and subject movements
Solution Approach 1:
The system enables self-positioning through automated robot control that continuously tracks subject head position and adjusts tool placement accordingly, eliminating dependence on operator manual manipulation while maintaining adaptability to subject movements
Solution Approach 2:
The system incorporates real-time feedback through head position detection and automated control adjustments, allowing the positioning system to respond dynamically to subject movements and maintain accurate tool placement without operator intervention
2Manufacturing precision
If automated positioning system is implemented, then positioning accuracy and consistency are improved, but device complexity and cost increase
Solution Approach 1:
The automated positioning system is designed with multi-functional capabilities that can handle various tool types and positioning scenarios through a single integrated platform, reducing overall system complexity while maintaining high positioning accuracy across different applications
Solution Approach 2:
The system divides the positioning function into separate modular components including head position detection, robot control, and tool holding mechanisms, allowing each module to be optimized independently and simplifying overall system maintenance and complexity management
3Stability of the object's composition
If static holder is used to maintain tool position, then tool placement stability is improved, but adaptability to subject movements and positioning flexibility deteriorate
Solution Approach 1:
The system replaces static holders with a dynamic automated positioning mechanism that can actively adapt to subject movements in real-time, maintaining tool placement stability while providing continuous positioning flexibility through programmable motion control
Data Source
AI summary
The present disclosure concerns an articulated positioning system for positioning a scientific tool in predetermined position and orientation with respect to a head of a subject, the articulated positioning system comprising: a spherical robot arm assembly defining an arm displacement sphere, the spherical robot arm assembly comprising: a proximal arm segment comprising a base-mounting end portion connectable to a support structure and an opposed distal segment-mounting end portion, the proximal arm segment forming a proximal arc of the arm displacement sphere; and a distal arm segment comprising a proximal segment-mounting end portion pivotally mounted to the distal segment-mounting end portion about an arm segment connection axis and an opposed tool-holding end portion, the distal arm segment forming a distal arc of the arm displacement sphere. It also concerns a corresponding robotized positioning assembly and a corresponding method for positioning the tool in the predetermined position and orientation.