Grip Input Haptic Barriers for Remote Instrument Mode Switching
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Solution Overview
Problem
Computer-assisted devices lack physical feedback to operators regarding the effect of end effectors and tools controlled via grip input controls, reducing situational awareness during operations.
Innovation Solution
Implementing a haptic profile system that provides resistance and feedback to grip input controls based on detected positions, transitioning between modes to ensure precise control and awareness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If computer-assisted end effectors and tools are controlled via grip input control, then remote operation capability is improved, but physical feedback to operator is lost
Solution Approach 1:
The patent implements haptic feedback mechanisms that provide force resistance to the operator's hand on the grip input control. This feedback is generated based on detected positions of the grip control and the state of the end effector, allowing the operator to sense operational status remotely without direct mechanical connection.
Solution Approach 2:
The patent introduces haptic feedback as an intermediary between the operator and the remote end effector. This intermediary system translates end effector state into tactile sensations on the grip control, bridging the information gap created by remote operation.
2Reliability
If haptic barriers are provided to resist movement of grip input control, then operator awareness is improved, but device complexity increases
Solution Approach 1:
The patent implements dynamic haptic profiles where the resistance characteristics of the grip input control change based on the detected position and operational state. The haptic barrier is not static but adapts in real-time, providing different resistance levels in different regions of motion to indicate different operational modes.
Solution Approach 2:
The system changes haptic parameters (resistance force, barrier strength) based on the detected position of the grip input control. When the control moves into specific regions, the haptic profile modifies the force characteristics to provide tactile cues about mode transitions and operational states.
Data Source
AI summary
Systems and methods of providing a haptic barrier for an instrument include a computer-assisted device. The computer-assisted device includes a grip input control, a repositionable arm configured to support an instrument, and one or more processors. The one or more processors are configured to detect a position of the grip input control in a first direction of a degree of freedom having In a first region, a second region, and a third region between the first and second regions; in response to determining that the detected position is in the first region, operate the instrument according to a first mode; in response to determining that the detected position is in the third region, provide a haptic barrier to resist movement of the grip input control through the third region; and in response to determining that the detected position is in the second region, operate the instrument according to a second mode.