Surgical Table Height Control With Overlapping Actuator Transitions
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Solution Overview
Problem
Existing surgical tables face limitations in achieving a wide range of tabletop heights and Trendelenburg positions due to the use of multiple actuators, which often result in noticeable pauses, reduced Trend capability, and extended motion times.
Innovation Solution
A motion control system that coordinates primary and secondary height actuators through overlapping activation, seamlessly transitioning between them to ensure smooth motion, maximize vertical travel, and maintain Trend capability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If multiple actuators are used to achieve a wide range of tabletop heights, then the vertical travel range is improved, but noticeable pauses and extended motion times occur
Solution Approach 1:
The system pre-calculates and stores optimal transition points and motion parameters for switching between primary and secondary actuators. The controller has advance knowledge of when to begin decelerating one actuator and accelerating another, eliminating delays by preparing transition parameters before the actual switch is needed.
Solution Approach 2:
The overlapping activation ensures that one actuator is always active and providing motion force. By beginning to accelerate the secondary actuator while the primary actuator is still extending, and maintaining this overlap through the transition zone, the system ensures continuous useful action without interruption or pause in the tabletop motion.
2Length of moving object
If multiple actuators are used to achieve maximum height, then the height range is improved, but Trend capability is reduced
Solution Approach 1:
The system dynamically adjusts the operational mode of the actuation system based on the desired tabletop position. For lower height ranges where Trend capability is needed, the system uses only the primary actuator in its traditional configuration. For higher ranges, it transitions to overlapping activation of primary and secondary actuators, allowing the system to adapt its configuration to preserve Trend capability when necessary.
Solution Approach 2:
The secondary actuators are designed to serve dual functions: they can provide additional vertical height extension when needed, and they can also assist with Trend positioning when operating in conjunction with the primary actuator. The overlapping activation strategy allows the system to access both functions across different operational ranges, making the actuation system universally capable of both height extension and Trend positioning.
3Device complexity
If sequential activation of actuators is used, then device complexity is reduced, but motion smoothness is worsened
Solution Approach 1:
The controller continuously monitors the positions and velocities of both primary and secondary actuators, as well as the actual tabletop position. Based on this feedback, the controller dynamically adjusts the activation and deactivation timing of each actuator to maintain smooth motion. The feedback loop allows the system to compensate for any deviations and maintain overlapping activation in the transition zone, ensuring motion smoothness without excessive complexity.
4Stability of the object's composition
If overlapping activation is used to ensure smooth motion, then motion smoothness is improved, but control complexity increases
Solution Approach 1:
The controller pre-calculates transition zones and stores optimal switching parameters for overlapping actuator activation. By having these transition parameters prepared in advance based on the desired final position, the system avoids real-time complex calculations during motion, reducing the actual control complexity while maintaining smooth motion through pre-planned overlapping activation sequences.
Data Source
AI summary
A surgical table with motion control and improved transitions between primary and secondary actuation systems is described. A surgical table may include: a first actuation system having at least one primary actuator powered with a primary variable speed electric motor; a second actuation system having at least two secondary actuators powered respectively with secondary variable speed electric motors; and a controller adapted to regulate positions of the primary and secondary actuators. This controller is operable to raise the tabletop by implementing logic to: control the primary variable speed electric motor based on a primary actuator deceleration profile that decreases a speed of extending the primary actuator while raising the tabletop with the secondary actuators; and control the secondary variable speed electric motors based on a secondary actuator acceleration profile that increases a speed of extending the secondary actuators while raising the tabletop with the primary actuator.