Imaging Device Control Using Multi-Modal Virtual Reference Frames
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Solution Overview
Problem
Existing methods for controlling repositionable imaging devices in computer-assisted systems are limited and lack efficiency and flexibility, particularly in environments where multiple input modalities are required for precise positioning and orientation.
Innovation Solution
A control system that integrates multiple input modalities, such as head and hand inputs, to determine the position and movement of repositionable imaging devices, ensuring accurate alignment and adjustment based on both input types, with haptic feedback for range limitations.
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 control precision and responsiveness are limited by the range of motion of the input devices
Solution Approach 1:
A virtual reference frame is introduced as an intermediary between the physical input devices and the imaging device. This virtual frame allows the system to interpret input motions and map them to precise positions of the imaging device, overcoming the physical range-of-motion limitations of the input devices while maintaining intuitive control.
Solution Approach 2:
The system transforms the control problem from a one-to-one physical mapping to a multi-dimensional transformation. By introducing a virtual reference frame with its own coordinate system, the system can map input motions from one dimension (input device motion) to multiple dimensions (imaging device position and orientation), enabling precise control beyond physical constraints.
2Adaptability or versatility
If the repositionable structure is actuated to move the imaging device to follow input modality motion, then the view of the worksite can be updated, but the structure may exceed range of motion limits or collide with obstacles
Solution Approach 1:
The control system continuously monitors the position of the imaging device relative to the virtual reference frame and detects when range of motion limits or obstacle boundaries are approached. This feedback mechanism allows the system to prevent unsafe movements before they occur, ensuring reliable operation while maintaining full view update capability through the virtual frame's flexible coordinate transformation.
3Measurement precision
If multiple input modalities are integrated to control the imaging device, then the control precision is improved, but the system complexity increases
Solution Approach 1:
The virtual reference frame serves as a universal intermediary that handles multiple input modalities (display unit motion, hand controller motion, and their combinations) through a single coordinate transformation framework. This universal approach allows the system to process different input types uniformly, improving control precision while minimizing the increase in system complexity through a unified control architecture.
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 configured to determine a position of a first reference point associated with a first input modality; in a first mode, determine a position of a target reference point for the imaging device based on the first reference point; in a second mode, determine a position of a second reference point associated with a second input modality, and determine the position of the target reference point based on the position of the first reference point and the position of the second reference point; determine a movement of the first repositionable structure that moves the imaging device such that a third reference point associated with the imaging device moves toward the target reference point; and cause actuation of the repositionable structure based on the movement.