Repositionable Imaging Control for Multi-Modal Motion Alignment
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods for controlling repositionable imaging devices in electronic devices fail to combine multiple input modalities effectively, leading to issues with 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
1Adaptability or versatility
If the imaging device is controlled to follow multiple input modalities (display unit motion and hand-operated controller), then the operator control versatility is improved, but the system complexity increases and range of motion conflicts arise
Solution Approach 1:
The patent introduces a virtual reference point as an intermediary between the display unit and the imaging device. This virtual reference point receives motion commands from multiple input modalities (display unit motion tracking and hand-operated controller) and converts them into coordinated motion commands for the imaging device, thereby simplifying the control system architecture while enabling multi-modal input compatibility
Solution Approach 2:
The system implements feedback by continuously monitoring the positions of the display unit and hand-operated controller, comparing them with the target imaging device position, and dynamically adjusting the motion commands to resolve conflicts between different input modalities while respecting range of motion constraints
2Ease of operation
If the imaging device follows display unit motion, then operator control intuitiveness is improved, but range of motion limits and collisions occur
Solution Approach 1:
The system applies preliminary anti-action by predicting potential range of motion conflicts before they occur. The control system calculates the intended motion path of the imaging device based on display unit motion, anticipates collisions or range of motion limits, and pre-adjusts the motion commands to prevent these issues while maintaining control intuitiveness
3Reliability
If haptic feedback is provided to resist operator input beyond range of motion limits, then range of motion protection is improved, but the operator experience deteriorates
Solution Approach 1:
The system applies partial action by providing haptic feedback only for the portion of operator input that exceeds range of motion limits, rather than resisting all input. The haptic feedback magnitude is proportional to the degree of constraint violation, allowing smooth transition from full compliance to partial resistance, thereby maintaining operator experience while protecting range of motion limits
Data Source
AI summary
Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system coupled to the repositionable structure. The control system is configured to: determine a position of a reference point offset from a display unit, convert the position of the reference point to a target position of another reference point offset from the imaging device, determine a movement command of the first repositionable structure that moves the imaging device such that the another reference point moves toward the target position, and cause actuation of the repositionable structure based on the movement command.