Steerable Device Motion Control With Catch-Up Position Correction
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Solution Overview
Problem
Current systems for controlling steerable medical and industrial devices face challenges in providing intuitive and responsive control, particularly in managing tension and accurately tracking user-instructed positions amidst opposing forces during procedures.
Innovation Solution
A control system that tracks virtual user-instructed positions and determines position discrepancies, using a catch-up profile to adjust the steerable device's motion based on user inputs, effectively managing tension and ensuring smooth operation by reducing discrepancies through actuator control and sensor feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the steerable device is moved in response to user input, then the device responds to user commands, but position discrepancy accumulates when opposing forces are present
Solution Approach 1:
The control system continuously monitors the position of the steerable device and compares it with the user-instructed position. When a position discrepancy is detected, the system generates corrective actuator commands to reduce the discrepancy, creating a closed-loop feedback control mechanism that maintains position tracking accuracy despite opposing forces
Solution Approach 2:
The system proactively detects position discrepancies before they significantly degrade performance and preemptively applies corrective actuator commands. The catch-up profile is applied in advance to gradually reduce the discrepancy, preventing large position errors from accumulating
2Force
If actuator force is increased to overcome opposing forces, then the device can move against resistance, but tension in the steerable device increases
Solution Approach 1:
The control system dynamically adjusts actuator commands based on the current position discrepancy and the catch-up profile. Instead of applying constant high force, the system varies the actuator force over time, applying higher force only when necessary to reduce the discrepancy while minimizing overall tension in the steerable device
Solution Approach 2:
The system changes the temporal parameter of actuator force application by using a catch-up profile that distributes force over time. This transforms a potentially high-magnitude instantaneous force into a lower-magnitude sustained force, reducing peak tension while still achieving the required position correction
3Measurement precision
If the control system continuously adjusts device position, then position accuracy is maintained, but control complexity increases
Solution Approach 1:
The control system applies partial correction rather than attempting to eliminate all position discrepancies immediately. The catch-up profile applies a controlled amount of corrective action that is sufficient to maintain acceptable position accuracy without requiring excessively complex control algorithms
Data Source
AI summary
A system may comprise a control device configured to receive user inputs and a manipulator system including an actuator configured to receive and drive a steerable device. The system may also comprise a control system communicatively coupled to the manipulator system. The control system may be configured to track a virtual user-instructed position based on a first user input, determine a device position of a portion of the steerable device, and determine a position discrepancy in a first direction between the determined device position and the virtual user-instructed position. The control system may also be configured to receive a second user input commanding motion of the steerable device in a second direction, opposite the first direction. In response to the second user input, the position discrepancy may be reduced based on an aspect of the second user input and a catch-up profile.