Articulated Suspension Brake Control for Smooth Medical Load Positioning
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Solution Overview
Problem
Existing suspension systems for medical devices in operating rooms face difficulties in accurately interpreting user intentions due to variations in mass, speed, and system geometry, leading to undesired movements and challenges in positioning loads.
Innovation Solution
A suspension system with dynamically adjustable brake friction based on the geometry and rotation of articulated arms, allowing smooth repositioning by controlling the friction of each brake device to align with the intended movement, featuring modes like stationary, move, and hold, and utilizing sensors and control devices to manage collisions and space allocation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor-based force detection is used to control brake devices, then the system can detect external forces, but it cannot accurately interpret user intentions due to variations in mass, speed, and system geometry
Solution Approach 1:
The system dynamically changes the friction parameter of brake devices based on real-time system state (arm position, velocity, acceleration) rather than relying solely on force sensor data. This allows the system to compensate for variations in mass, speed, and geometry by adjusting friction to match the user's intended movement direction.
Solution Approach 2:
The control system continuously monitors system state parameters (position, velocity, acceleration) and uses this feedback to adjust brake friction dynamically. This closed-loop feedback enables the system to interpret user intentions more accurately by considering the full context of system behavior rather than just applied forces.
2Device complexity
If fixed brake friction is used in the articulated arm system, then the structure is simple, but the load cannot be repositioned smoothly in any direction regardless of arm position
Solution Approach 1:
The brake friction is made dynamic rather than fixed, automatically adjusting based on the articulated arm's position, velocity, and acceleration. This dynamic adaptation enables smooth repositioning in any direction while maintaining system stability, resolving the contradiction between operational flexibility and control complexity.
3Stability of the object's composition
If high brake friction is applied to prevent drifting, then the load remains stationary, but the operator experiences difficulty moving the load when repositioning is needed
Solution Approach 1:
The brake friction is periodically adjusted based on system state - high friction when stationary to prevent drifting, and reduced friction when movement is detected to facilitate smooth repositioning. This periodic adaptation between holding and moving states resolves the contradiction between stability and ease of repositioning.
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
Enables precise and intuitive movement of medical devices without operator intervention, preventing unintended drifting and collisions, ensuring smooth and efficient repositioning while minimizing effort.
Implementation Method 1
the first rotation connection is provided with an electronically operable first brake device for braking the rotation of the main arm relative to the first axis of rotation
Data Source
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AI summary
The invention relates to a suspension system, or pendant unit, intended for attachment to an upper structure at a selectable height for suspending a load wherein the load may comprise a carrier for the one or more medical devices or one or more devices, such as for instance a (target) lighting, monitor, camera or a medical device. The problem of the known suspension system is that during the entire repositioning the user has to react on the behavior of the system due to a variety of internal and external forces. It is an object of the invention to provide an alternative suspension system for the known suspension system wherein this problem is addressed.