Surgical Observation Holding Unit for Point Lock With Fewer Active Shafts
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Solution Overview
Problem
Existing medical observation devices for cranial neurosurgery, such as those using balance arms and robot arms, face challenges in achieving precise point lock operations with a smaller and simpler configuration, often resulting in increased device size and complexity, which complicates manual manipulation and can lead to loss of the observation point during microsurgery.
Innovation Solution
A medical observation device with an imaging unit and a holding unit featuring rotary shafts with at least six degrees of freedom, where two shafts are actively controlled and one is passively rotated by external manipulation, utilizing encoders for angle detection and force sensors for external force measurement, allowing for precise control and simpler configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a balance arm with double balance arms is used to mechanically regulate movement of the operating microscope, then point lock operation is realized, but the device configuration becomes complicated and size increases
Solution Approach 1:
The holding unit is divided into multiple rotary shafts (first through sixth rotary shafts) with distinct functions. The passive shafts (first, fourth, fifth, sixth) allow manual manipulation, while the active shafts (second, third) are controlled by the controller based on encoder feedback. This segmentation enables point lock operation without requiring a complicated double balance arm mechanism.
2Ease of operation
If a robot arm with six degrees of freedom is used to hold the operating microscope, then point lock operation can be realized through position control, but the device size increases due to larger joints and driving devices
Solution Approach 1:
Instead of controlling all six rotary shafts actively, the invention uses only two active shafts (second and third) for point lock operation, while the other four shafts remain passive and can be manually manipulated. This partial action approach achieves the desired point lock functionality with a smaller, simpler device configuration.
3Measurement precision
If all joints of the holding unit are driven with actuators for precise control, then position accuracy is improved, but the device becomes larger and more complex
Solution Approach 1:
The invention applies different control qualities to different shafts based on their functional requirements. The second and third rotary shafts, which control the observation point position, are equipped with encoders and actuators for precise control. The other shafts remain passive for manual manipulation, creating a localized precision control system that reduces overall device complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration enables excellent manipulation properties with a reduced and simplified device structure, allowing for precise point lock operations and easier manual handling, maintaining the observation point during surgical procedures while minimizing device size and complexity.
Implementation Method 1
the first and second rotary shafts have encoders configured to detect rotation angles of the first and second rotary shafts
Implementation Method 2
force sensors configured to detect external force loaded at least on the first and second rotary shafts
Data Source
AI summary
A medical observation device includes an imaging unit configured to photograph an image of an operation site, and a holding unit configured to be connected with the imaging unit and have rotary shafts which are operable with at least six degrees of freedom. Among the rotary shafts, at least two shafts are active shafts whose driving is controlled based on states of the rotary shafts, and at least one shaft is a passive shaft which is rotated according to direct external manipulation accompanying contact.