End Effector Imaging Sensor Orientation Hints
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Solution Overview
Problem
Existing computer-assisted devices with end effectors face challenges in monitoring and determining the presence or amount of material during operations like grasping, cutting, and stapling, due to remote operation and potential obstructions in the workspace.
Innovation Solution
A computer-assisted device equipped with an end effector having a first jaw and a second jaw, an imaging sensor mounted on the end effector to capture images of the material, and processors to determine material properties and display them on an interface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an imaging sensor is mounted on the end effector to capture images of material, then monitoring capability and measurement precision are improved, but device complexity increases
Solution Approach 1:
The imaging sensor is integrated directly onto the end effector, merging the imaging function with the grasping function into a single unified component. This allows the end effector to both grasp material and capture images of the material properties, eliminating the need for separate imaging devices and improving measurement precision while managing complexity through functional integration.
Solution Approach 2:
The end effector is designed with multi-functionality, serving both as a grasping tool and as an imaging platform. By incorporating the imaging sensor directly into the end effector, the system achieves universal functionality where a single component performs multiple tasks: material manipulation and property detection.
2Loss of information
If imaging is performed during remote operation, then monitoring capability is improved, but difficulty of detecting and measuring increases due to obstructions
Solution Approach 1:
The imaging sensor acts as an intermediary that directly captures information about the material properties from the workspace. By mounting the sensor on the end effector, it can detect material presence and properties up close, serving as a mediator between the remote operator and the material, providing real-time visual feedback despite the remote operation setup.
Data Source
AI summary
Techniques for image detection during grasping and stapling include a computer-assisted device comprising an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture one or more images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to determine an orientation of a view of the imaging sensor relative to a workspace, generate orientation hints based on the orientation of the view, and cause display of the one or more orientation hints proximate to a first image of the end effector, on a user interface to provide an indication of the orientation of the end effector within a workspace.