Robotic Instrument Control Switching on Camera View Entry
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Solution Overview
Problem
In robotic systems, inserting or reinserting instruments into a work site can be time-consuming and difficult, with risks of unintended contact due to misjudgment of depth, and existing methods do not efficiently transfer control to the primary operator once the instrument is in the camera's field of view, potentially delaying procedures.
Innovation Solution
A robotic system with a camera, instrument, and processor that switches control from an assistant or processor mode to operator mode when the instrument's working end enters the camera's field of view, using manipulating means and input devices to ensure precise and safe instrument placement and control transfer.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the assistant manually controls the instrument insertion process, then the instrument can be precisely positioned, but the procedure time increases and the risk of unintended contact increases due to slow insertion speed
Solution Approach 1:
The system continuously monitors the instrument's position relative to the camera field of view and provides real-time feedback to automatically adjust insertion speed and trigger control transfer. This feedback mechanism enables precise positioning while maintaining efficient insertion speeds, resolving the contradiction between precision and productivity.
Solution Approach 2:
The system performs self-positioning by automatically adjusting the instrument insertion based on camera field of view detection. The automated system serves itself to achieve precise positioning without requiring slow manual control, thereby improving procedure efficiency while maintaining positioning accuracy.
2Reliability
If the assistant inserts the instrument slowly to avoid unintended contact, then safety is improved, but the procedure time increases
Solution Approach 1:
The system performs preliminary detection of the camera field of view before completing instrument insertion. By detecting when the instrument enters the field of view in advance, the system can safely accelerate insertion and automatically transfer control, improving safety without causing procedure delays.
Solution Approach 2:
The system dynamically adjusts the insertion speed based on real-time detection of instrument position relative to the camera field of view. The insertion process transitions from slow initial approach to faster insertion once the field of view is detected, maintaining safety while reducing overall procedure time.
3Measurement precision
If the assistant manually brings the instrument into the camera field of view, then control precision is maintained, but the complexity of the control system increases
Solution Approach 1:
The system automatically detects when the instrument enters the camera field of view and triggers control transfer without requiring manual intervention for field of view alignment. This self-service approach maintains precise alignment detection while significantly reducing control system complexity.
Solution Approach 2:
The system replaces manual mechanical control for field of view alignment with an automated detection mechanism that monitors camera field of view and automatically triggers control transfer. This substitution reduces the complexity of manual control operations while maintaining precise alignment.
4Reliability
If control is transferred to the operator only after manual confirmation, then control accuracy is ensured, but procedural delays increase
Solution Approach 1:
The system provides automatic feedback when the instrument enters the camera field of view, triggering immediate control transfer without requiring manual confirmation. This feedback-based automatic transfer ensures accurate control transition while eliminating procedural delays associated with manual confirmation steps.
Solution Approach 2:
The system performs preliminary detection of instrument position relative to the camera field of view and pre-prepares for control transfer. When the field of view is detected, control transfer is immediately executed without requiring subsequent manual confirmation, ensuring both accuracy and speed.
Data Source
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AI summary
An operator telerobotically controls instruments to perform a procedure on an object at a work site while viewing real-time images of the work site on a display screen. An assistant controls movement of another instrument towards or away from the work site to relieve the operator from such task. Control of the instrument is automatically switched from the assistant to the operator upon the working end of the instrument entering the view on the display screen.