Surgical Robot Controller Boundary Feedback for Teleoperation Training
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Solution Overview
Problem
Users operating ungrounded controllers in surgical robotic systems face challenges in understanding and maintaining the invisible workspace boundaries, necessitating effective training and real-time feedback to ensure proper usage within operable limits.
Innovation Solution
A multimodal approach comprising training, pre-usage reminders, and feedback during usage is implemented, utilizing virtual workspace boundaries and sensory feedback to guide users on controller movement within defined limits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If ungrounded controllers are used to provide freedom of movement, then ease of operation is improved, but the user cannot understand workspace boundaries leading to improper usage
Solution Approach 1:
The system changes the color of visual indicators (such as the controller icon or workspace boundary markers) to provide feedback about the controller's position relative to the workspace boundary. For example, the color may change from green to yellow to red as the controller approaches or exceeds the boundary, making the invisible boundary visible through color transformation.
Solution Approach 2:
The system provides real-time feedback to the user about the controller's position within the workspace through visual, auditory, or haptic signals. This feedback loop allows the user to understand the boundary limits while maintaining freedom of movement, as the controller remains ungrounded but the user receives continuous information about their position relative to the operational workspace.
2Loss of information
If visual feedback is provided to indicate workspace boundaries, then workspace awareness is improved, but the system complexity increases
Solution Approach 1:
The system creates a virtual copy or representation of the physical workspace and controller position displayed on a screen or through augmented reality. This virtual model provides boundary information without requiring complex physical modifications to the controller or workspace, as the feedback is generated through software-based visualization of the spatial relationship.
Solution Approach 2:
The system introduces an intermediary visual layer (such as graphical icons, boundary lines, or augmented reality overlays) that mediates between the physical controller and the user's perception. This intermediary provides boundary information without directly modifying the controller hardware or workspace structure, thereby reducing overall system complexity.
3Loss of information
If training tasks are implemented to teach workspace boundaries, then user understanding is improved, but the time required for operation increases
Solution Approach 1:
The system provides boundary feedback information in advance during the training phase, allowing users to learn workspace limits through guided practice with immediate feedback. This preliminary exposure to boundary information during training reduces the time needed for users to understand and internalize workspace boundaries compared to trial-and-error learning without feedback.
Solution Approach 2:
The system provides continuous feedback during training tasks about the controller's position relative to workspace boundaries. This real-time information allows users to quickly learn boundary locations and adjust their movements accordingly, reducing the overall training time required to achieve competent operation within the workspace limits.
Data Source
AI summary
A method of determining a location of a user input device of a surgical robotic system within a surgical workspace using a virtual workspace including determining, by one or more processors communicatively coupled to a user input device, that a user is engaging with the user input device within a surgical workspace; in response to determining the user is engaging with the user input device, displaying a virtual user input device within a first virtual workspace boundary, wherein at least a portion of the first virtual workspace boundary is operable to move in response to a movement of the user input device; displaying a second virtual workspace boundary that represents a second workspace limit beyond which the user input device is inoperable to control the surgical robotic instrument in the teleoperation mode; and determining a location of the user input device within the surgical workspace.