Haptic UI Motion Constraints for 2D and 3D Interaction Elements

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Existing graphical user interface systems for robot-assisted minimally invasive medical procedures lack efficient methods to enable operators to interface with interaction elements that have varying degrees of freedom of motion, leading to suboptimal user experience and control.

Innovation Solution

A method and system that constrains operator interface devices to translational motion in a haptic plane while displaying interaction panels, and dynamically adjusts constraints based on the type of interaction element being manipulated, allowing seamless transitions between different degrees of freedom.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If the operator interface device is constrained to translational motion in a haptic plane, then the user interface interaction with two-dimensional interaction elements is simplified and improved, but the ability to interact with three-dimensional rotation type interaction elements is limited

Engineering Contradiction:

Improveuser interface interactionVSAvoidinteraction element type compatibility

Core Design Contradiction:

Ease of operationVSAdaptability or versatility

Solution Approach 1:

The system dynamically adjusts the motion constraint state of the operator interface device based on the type of interaction element being manipulated. When a three-dimensional rotation type interaction element is detected, the haptic plane constraint is removed, allowing rotational motion. When a two-dimensional interaction element is detected, the constraint is applied, limiting motion to the haptic plane. This dynamic state change enables the system to adapt to different interaction requirements in real-time.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the motion constraint parameter of the operator interface device based on the interaction element type. The constraint state transitions between two conditions: constrained to translational motion in the haptic plane for 2D elements, and unconstrained allowing 3D rotation for rotation-type elements. This parameter change enables flexible adaptation to different interaction scenarios.

Inventive Principle:

Principle #35Parameter changes

2Stability of the object's composition

If the haptic plane constraint is always applied, then the operator interface device motion is controlled and predictable, but the natural movement transitions between different interaction elements are restricted

Engineering Contradiction:

Improvemotion controlVSAvoidmovement transitions

Core Design Contradiction:

Stability of the object's compositionVSEase of operation

Solution Approach 1:

The system continuously monitors the type of interaction element being manipulated and uses this feedback to dynamically adjust the motion constraint state. When a three-dimensional rotation type interaction element is detected, the system removes the haptic plane constraint, allowing natural rotational movement. This feedback mechanism enables smooth transitions between different interaction modes while maintaining stability when needed.

Inventive Principle:

Principle #23Feedback

3Adaptability or versatility

If the haptic plane constraint is removed for three-dimensional rotation type interaction elements, then the operator can manipulate these elements naturally, but the constraint on translational motion in the haptic plane is lost

Engineering Contradiction:

Improvethree-dimensional rotation interactionVSAvoidconstraint management

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The system implements dynamic constraint management where the haptic plane constraint is not fixed but changes based on the interaction element type. When a three-dimensional rotation type element is detected, the constraint is removed to enable natural manipulation. The system automatically transitions between constrained and unconstrained states, managing complexity through intelligent automation rather than manual intervention.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS12517625B2User interface interaction elements with associated degrees of freedom of motion

Publication Date: 2026.01.06 INTUITIVE SURGICAL OPERATIONS INC

AI summary

A method may comprise displaying an interaction panel on a display device. The interaction panel having a display frame of reference and include a plurality of interaction elements. The method may also comprise constraining motion of an operator interface device to translational motion in a haptic plane with a haptic plane constraint while the interaction panel is displayed and determining a cursor position in the display frame of reference that corresponds to a position of a selection portion of the operator interface device in an operator frame of reference. The method may also comprise determining an element type for a first interaction element of the plurality of interaction elements at which the cursor position is located and removing the haptic plane constraint on the operator interface device if the element type is a three-dimensional rotation type.