Steerable Device Motion Control With Catch-Up Tension Management
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Solution Overview
Problem
Existing steerable devices in medical and industrial applications lack intuitive controls that respond quickly and accurately to user inputs, leading to tension accumulation and position discrepancies during procedures.
Innovation Solution
A control system that tracks virtual user-instructed positions, determines position discrepancies, and employs a catch-up profile to adjust actuator forces based on user inputs, ensuring smooth tension management and responsive device control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If traditional control systems are used for steerable devices, then device complexity is reduced, but control responsiveness and accuracy deteriorate
Solution Approach 1:
The control system continuously monitors the actual position of the steerable device and compares it with the target position to generate position discrepancy signals. This feedback mechanism enables real-time correction of control errors, improving responsiveness and accuracy without requiring overly complex hardware architecture.
Solution Approach 2:
The system pre-calculates catch-up profiles that define how actuator forces should be adjusted to eliminate position discrepancies. By preparing these control strategies in advance based on predicted device behavior, the system achieves rapid response without needing complex real-time computation during device operation.
2Measurement precision
If higher actuator forces are applied to reduce position discrepancy, then control accuracy improves, but tension accumulation increases
Solution Approach 1:
The control system dynamically adjusts actuator forces based on the current position discrepancy and the defined catch-up profile. Rather than applying constant high forces, the system modulates force levels according to the actual need, applying higher forces only when necessary to correct large discrepancies and reducing forces as the device approaches the target position.
Solution Approach 2:
The catch-up profile pre-defines the relationship between position discrepancy and required actuator force, incorporating safety margins and tension limits. This preliminary cushioning prevents excessive force application and tension accumulation by establishing controlled force escalation patterns before they become problematic.
3Manufacturing precision
If control system continuously adjusts actuator forces to eliminate position discrepancy, then control precision improves, but system complexity increases
Solution Approach 1:
The system achieves precise position control by changing the parameters of actuator forces over time according to predefined catch-up profiles. Instead of implementing complex multi-variable control algorithms, the approach modifies force magnitude and application timing parameters to achieve the desired control precision.
Solution Approach 2:
The control system operates in periodic cycles, continuously measuring position discrepancy, determining required force adjustments, and applying corrected forces at regular intervals. This periodic control rhythm simplifies the overall system architecture compared to continuous complex optimization while maintaining high position control precision.
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 and the control device. 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 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 and in response to the second user input, reduce the position discrepancy.