Robotic Observation Instrument Control for Intuitive Image Positioning
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Solution Overview
Problem
Medical handling devices and methods face challenges in providing intuitive and low-error control, managing a manageable number of input devices, preventing adverse interactions, ensuring clear operation, and reducing distraction during use, especially in telemedical and robotic systems where direct feedback is limited.
Innovation Solution
A medical handling device comprising an instrument holder, a robotic handling unit, and a control device with an input device that converts direction commands into movement instructions for the robotic handling unit, allowing intuitive movement of the image section independent of the observation instrument's orientation, and integrating instrument control and handling control units for unified operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the instrument is mounted on a robotic handling unit to enable automated positioning and orientation, then the position and orientation can be changed without manual intervention, but the system complexity increases and direct feedback to the operator is reduced
Solution Approach 1:
The system provides visual feedback by displaying the captured image section on a display device, allowing the operator to see the result of robotic positioning in real-time. This compensates for the loss of direct tactile feedback when using automated positioning.
Solution Approach 2:
The control device acts as an intermediary between the operator and the robotic handling unit, translating operator inputs into coordinated movements of the instrument while providing visual feedback through the display device.
2Adaptability or versatility
If multiple control elements are provided for controlling imaging parameters and image reproduction parameters, then comprehensive control is achieved, but the number of input devices increases and operation becomes less intuitive
Solution Approach 1:
The input device is designed to control both the robotic handling unit and the observation instrument functions through a unified interface. The control device receives inputs and routes them appropriately to control imaging parameters, image reproduction parameters, and robotic positioning through the same input device.
Solution Approach 2:
The control device merges the control functions for the robotic handling unit and the observation instrument into a single integrated system. The input device serves as a common control interface for both subsystems, reducing the number of separate control elements.
3Extent of automation
If the observation instrument is positioned to observe a certain image section permanently, then no manual holding is required, but the flexibility to change the object field is reduced
Solution Approach 1:
The system transitions from static fixed positioning to dynamic repositioning. The robotic handling unit can automatically change the position and orientation of the observation instrument based on control inputs, allowing the field of view to be adjusted dynamically during the procedure.
Solution Approach 2:
The system allows pre-positioning of the observation instrument at optimal locations using the robotic handling unit, then maintains these positions automatically. When needed, the instrument can be repositioned to new locations before the procedure begins or during breaks, combining the benefits of fixed positioning with occasional flexibility.
Data Source
AI summary
A medical handling device comprises an instrument holder for holding an observation instrument that is equipped with an image capturing unit for capturing an image section. The handling device further comprises a robotic handling unit that supports the instrument holder and a control device that comprises a handling control unit for controlling the robotic handling unit and an instrument control unit for controlling the observation instrument. An input device is coupled to the control device for selecting an image section to be reproduced. The control device is adapted to control the robotic handling unit in response to user inputs at the input device to change the captured image section. The control device is adapted to convert operating commands at the input device into movement instructions, depending on a present orientation of the image capturing unit.