Surgical Tool Control Device Dynamic Target Portion Adjustment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional master-slave manipulator systems have fixed position and orientation control for surgical tools, which can limit manipulability based on the type and usage location of the tool, affecting surgical precision and efficiency.
Innovation Solution
A control device that performs inverse kinematics computations to adjust the position and orientation of surgical tools on a slave arm based on manipulation input values, using setting information specific to each tool type and usage location, allowing dynamic control of the target portion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the position and orientation control of the slave arm is fixed to a predetermined target portion, then the system structure is simple, but the manipulability is limited when different surgical tools or usage locations are used
Solution Approach 1:
The patent applies dynamics by making the target portion controllable and changeable rather than fixed. The control unit allows dynamic switching of the target portion on the slave arm based on the surgical tool type and usage location, enabling the system to adapt to different surgical scenarios while maintaining a relatively simple overall structure.
Solution Approach 2:
The patent changes the parameter of the target portion position and orientation control dynamically. By allowing the target portion to be changed based on surgical tool characteristics and usage requirements, the system achieves higher adaptability without requiring complete structural redesign.
2Manufacturing precision
If the target portion is fixed at design stage, then the control system is simple, but surgical precision is reduced when tool type or usage location varies
Solution Approach 1:
The system dynamically adjusts the target portion based on the surgical tool being used and the specific usage location. This dynamic adjustment ensures that the control point is always optimally positioned for the current surgical task, maintaining high surgical precision while providing operational flexibility.
Solution Approach 2:
The control unit receives information about the surgical tool type and usage location, and based on this feedback, automatically determines and switches to the appropriate target portion. This feedback mechanism ensures that the system maintains optimal precision for each specific surgical scenario.
3Adaptability or versatility
If the target portion is changed according to surgical tool and usage location, then manipulability is enhanced, but the control computation complexity increases
Solution Approach 1:
The system performs preliminary setup by storing correspondence relationships between surgical tools, usage locations, and target portions in advance. When a surgical tool is selected or usage location changes, the control unit simply retrieves the pre-determined target portion information, avoiding complex real-time computations while maintaining high adaptability.
Data Source
Figure 1
Figure 2A~2B
Figure 3A~3B
AI summary
A control device for surgical system that controls a surgical tool attached to a slave arm in accordance with manipulation input values for the position and the orientation from a remote control device, comprising a control unit that stores a setting information for setting the position and the orientation of a first target portion of the surgical tool, corrects the manipulation input values in accordance with the setting information, and controls the position and the orientation of a post-correction second target portion of the surgical tool in compliance with corrected manipulation input values.