Imaging Device Image Transforms for Commanded-Motion Feedback
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Solution Overview
Problem
Electronic devices with repositionable arms and end effectors often experience discrepancies between commanded and executed movements, leading to inaccurate perceptions and potential disorientation for operators, especially when controlling imaging devices.
Innovation Solution
A system that tracks the movement of imaging devices and adjusts the display position and orientation based on a calculated transform to align with the commanded movements, using equations to account for discrepancies due to lag, range of motion limits, and degree of freedom differences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the imaging device is controlled remotely from the user control system, then the operator can control the device from a distance, but the operator may have incomplete or inaccurate perceptions of electronic device operation due to discrepancies between commanded and executed movements
Solution Approach 1:
The system implements a feedback mechanism by displaying the actual position and orientation of the imaging device on the user interface, allowing the operator to see the discrepancy between commanded and executed movements. This visual feedback enables the operator to adjust control inputs accordingly, improving situational awareness and operational accuracy despite remote control limitations.
Solution Approach 2:
The user interface acts as an intermediary between the control inputs and the imaging device status. It transforms the raw sensor data about device position and orientation into a visual representation that the operator can interpret, bridging the information gap created by remote control and providing intuitive feedback about device state.
2Loss of information
If the display shows the actual position of the imaging device, then the operator receives accurate feedback, but the display position and orientation may not align with the operator's intuitive expectation based on commanded movements
Solution Approach 1:
The system adds a transformation layer between the commanded position and the displayed position. Instead of directly showing the actual device position in the same coordinate space as the operator's commands, the system applies a transform that maps the actual position into the operator's expected coordinate framework, preserving intuitive spatial relationships while maintaining feedback accuracy.
Solution Approach 2:
The system dynamically adjusts the display parameters (position and orientation) of the imaging device representation based on the calculated transform. This transformation compensates for lag and mechanical constraints, changing the displayed parameters to match the operator's intuitive expectations while still conveying accurate device state information.
3Loss of information
If the system accounts for lag and mechanical constraints in the display, then the feedback becomes more accurate, but the system complexity increases due to transform calculations
Solution Approach 1:
The system replaces complex mechanical tracking and synchronization mechanisms with computational transformation. Instead of using additional sensors and mechanical components to physically track and compensate for device lag, the system uses software-based transform calculations that process sensor data to achieve the same effect, reducing mechanical complexity while maintaining accuracy.
Data Source
AI summary
Techniques for displaying images from an imaging device include a display device and one or more processors coupled to the display device. The one or more processors are configured to track movement of an imaging device, determine a display-device-to-imaging-window transform based on the tracked movement of the imaging device, and display an image from the imaging device on the display device. A position and an orientation of the image on the display device is based on the display-device-to-imaging-window transform. The position and the orientation of the image on the display device provides one or more cues to an operator regarding at least one of: an inability of the imaging device to follow a command to move the imaging device, a range of motion limit of the imaging device, or a mismatch in degrees of freedom between the imaging device and the display device.