Repositionable Imaging Control With Haptic Limit Feedback
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Solution Overview
Problem
Existing methods for controlling repositionable imaging devices in electronic devices fail to combine multiple input modalities effectively, leading to issues like range of motion limits and collisions, and lack intuitive haptic feedback for operators.
Innovation Solution
A control system determines the position of a reference point offset from a display unit, converts it to a target position for an imaging device, and actuates a repositionable structure to move the imaging device accordingly, ensuring smooth movement and alignment with operator input.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the imaging device is controlled to follow the motion of a display unit or hand-operated controller, then the operator can control the imaging device movement, but the system cannot easily identify which input modality caused range of motion limits or collisions
Solution Approach 1:
The control system monitors the positions of multiple input modalities (display unit and hand-operated controller) and provides haptic feedback through the hand-operated controller when range of motion limits or collisions are detected. This feedback mechanism identifies which input modality caused the issue by applying resistive force to the specific controller that exceeded the limit, thereby resolving the information loss about input modality identification.
Solution Approach 2:
The control system acts as an intermediary between multiple input modalities and the imaging device. It receives input from both the display unit and hand-operated controller, processes their combined commands, and coordinates their movements to control the imaging device. This intermediary function enables the system to manage multiple input sources while identifying which specific modality caused range of motion issues.
2Adaptability or versatility
If the imaging device is moved to follow multiple input modalities simultaneously, then control flexibility is improved, but range of motion limits and collisions occur
Solution Approach 1:
The control system dynamically adjusts the operation of multiple input modalities based on real-time conditions. When one modality approaches range of motion limits or potential collisions are detected, the system dynamically modifies the behavior of that specific input modality while maintaining operation of other modalities within safe boundaries. This dynamic adaptation allows the system to maintain versatility while ensuring reliability.
Solution Approach 2:
The control system performs preliminary checks to prevent range of motion limits and collisions before they occur. By monitoring the combined effect of multiple input modalities in advance, the system can predict potential violations of motion constraints and preemptively adjust the operation of input devices or provide haptic feedback to guide operators back within safe operational boundaries, thereby maintaining reliability while preserving adaptability.
Data Source
AI summary
Techniques are disclosed for imaging device control in a computer-assisted device that includes a first repositionable structure comprising joints, links coupled by the joints, and actuators coupled to drive motion of the first repositionable structure, the first repositionable structure configured to support an imaging device and a control system coupled to the first repositionable structure. The control system is configured to determine a first position of a first reference point, the first reference point being located at a first offset from a display unit; convert the first position to a target position; determine, based on the target position, a movement command of the first repositionable structure that moves the imaging device such that the imaging device moves toward a second position that is located at a second offset from the target position; and cause, using the actuators, actuation of the first repositionable structure based on the movement command.