Hand Input Repositioning Feedback in Robotic Teleoperation
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Solution Overview
Problem
Operators of computer-assisted robotic systems face challenges in decoupling the control of imaging devices from the motion of display units during repositioning, particularly in clutch modes, leading to inefficiencies and discomfort.
Innovation Solution
A computer-assisted robotic system with a control system that provides reminders to reposition hand input devices based on predefined parameters, using visual, audible, or tactile cues, allowing operators to move input devices without affecting tool movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the operator decouples control of the imaging device from the display unit motion during clutch mode to reposition himself, then operator flexibility and comfort are improved, but the operator may forget to reposition the hand input device, leading to inefficiency and physical strain
Solution Approach 1:
The system provides visual feedback through icons displayed on the display unit that indicate whether hand input devices are in optimal positions. During clutch mode, the system continuously monitors hand input device positions and provides reminders to the operator, ensuring that efficiency is maintained even when the operator needs to reposition themselves independently of the imaging device control
2Productivity
If the system continuously monitors and reminds the operator to reposition hand input devices, then operational efficiency is maintained, but system complexity increases
Solution Approach 1:
The display unit, which already serves to show imaging device views, is extended to also provide repositioning reminder functionality. By making the display unit multi-functional (showing both imaging views and reminder icons), the system avoids adding separate complex monitoring and reminder hardware, thus maintaining productivity while minimizing the increase in device complexity
Data Source
AI summary
Systems and methods are described herein for providing reminders with a computer-assisted robotic system. In one example, a robotic system comprises head and hand input devices, and a control system. The head input device comprises a sensor configured to sense head inputs provided by a head of an operator. The hand input device comprises a hand input sensor configured to sense hand inputs provided by a hand of the operator. The control system is configured to, in a teleoperation mode, command a change in a display of an image based on head input signals provided by the head input device, where the image is obtained by an imaging device, and command motion of a tool based on hand input signals provided by the hand input device. The control system is further configured to, in a clutch mode, provide a reminder for the operator to reposition the hand input device.