Master Control Device Unused Degree-of-Freedom for Camera Attribute Adjustment
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Solution Overview
Problem
Medical robotic systems face challenges in adjusting image capturing device attributes, such as focus, zoom, and brightness, using an unused degree-of-freedom of a master control device, due to potential set-point changes and inadvertent movement during positioning and orienting of the device.
Innovation Solution
A system and method that utilize a controller to command manipulation of the image capturing device using less than all available degrees-of-freedom, determine a set-point for an unused degree-of-freedom, and adjust attributes like focus, zoom, or brightness without causing unintended movement, by employing a 'virtual handlebar' scheme with cooperative manipulation of master control devices and haptic feedback to maintain stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If an unused degree-of-freedom of a master control device is used to adjust image capturing device attributes, then the operational efficiency is improved, but the risk of inadvertent movement and set-point changes increases
Solution Approach 1:
The system dynamically switches between two operational modes: camera positioning mode and camera attribute adjustment mode. The controller detects the current mode and selectively activates or deactivates the unused degree-of-freedom based on the operational context, allowing the system to adapt its control characteristics to the current task requirements
Solution Approach 2:
The system employs feedback mechanisms where the controller continuously monitors the state of the master control device and the image capturing device. When positioning is active, the controller detects positioning commands and suppresses attribute adjustment. When positioning is complete, the controller detects the transition and enables attribute adjustment using the unused degree-of-freedom, ensuring that adjustments only occur when appropriate
2Device complexity
If the master control device is used for both positioning and attribute adjustment, then the device complexity is reduced, but the ease of operation deteriorates due to potential conflicts
Solution Approach 1:
The control system dynamically changes its behavior based on the operational phase. During camera positioning, the unused degree-of-freedom is constrained to maintain positioning accuracy. After positioning completes, the system dynamically reconfigures to allow the same degree-of-freedom to control camera attributes, eliminating the need for additional hardware controls
Solution Approach 2:
The master control device is designed to serve multiple functions: primary camera positioning and secondary camera attribute adjustment. The controller intelligently determines which function to activate based on the current operational state, allowing a single device to replace what would traditionally require separate controls
3Measurement precision
If the unused degree-of-freedom is continuously monitored for attribute adjustment, then the measurement precision is improved, but the processing time increases
Solution Approach 1:
The controller implements periodic polling of the master control device state at predetermined time intervals rather than continuous monitoring. This approach maintains sufficient measurement precision for attribute adjustment while significantly reducing the processing burden and time loss associated with constant state checking
Data Source
AI summary
An image capturing device is robotically positioned and oriented in response to operator manipulation of a master control device. An unused degree-of-freedom of the master control device is used to adjust an attribute such as focusing of the image capturing device relative to a continually updated set-point. A deadband is provided to avoid inadvertent adjusting of the image capturing device attribute and haptic feedback is provided back to the master control device so that the operator is notified when adjusting of the attribute is initiated.