Robotic Mode Selection via Distinguishing Operator Actions
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Solution Overview
Problem
Current methods for selecting operating modes in robotic systems, such as GUI interaction, voice commands, and foot pedals, are either time-consuming, costly, or impractical when dealing with multiple modes, especially in medical robotic systems where hands are occupied or multiple foot pedals are needed.
Innovation Solution
A robotic system that allows mode selection through a processor-controlled method using input devices and foot pedals, enabling seamless transitions between operating modes like 'tool following,' 'camera control,' 'entry guide positioning,' and 'combo control' by associating input devices with specific manipulators and providing graphical feedback for mode identification.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a menu driven Graphical User Interface (GUI) is used for mode selection, then flexibility and accommodation of many operating modes is improved, but user interaction time increases
Solution Approach 1:
The patent replaces manual GUI interaction (mechanical mouse/touchpad movement) with voice recognition system (acoustic field processing). The voice recognition system processes spoken commands through acoustic signals, transforming the interaction mechanism from manual device manipulation to voice-based command input, thereby reducing hand movement time while maintaining mode selection capability
Solution Approach 2:
The patent changes the interaction parameter from manual device manipulation to voice command duration and pattern recognition. By monitoring voice command characteristics (duration, pauses, specific phrases), the system determines mode selection intent without requiring sustained manual input, thus reducing interaction time while preserving versatility
2Productivity
If voice recognition system is used for mode selection, then interaction speed is improved and hands remain on input devices, but system cost increases and recognition errors may occur
Solution Approach 1:
The patent makes the foot pedal serve multiple functions: it can be used for traditional mode selection (pressing different pedals for different modes) or for activating voice recognition mode (pressing and holding the pedal). This multi-functionality allows the system to offer fast voice-based mode selection without requiring a completely separate voice recognition hardware system, thereby reducing overall system complexity and cost
3Ease of operation
If multiple foot pedals are used for mode selection, then hands remain on input devices, but device complexity and space requirements increase
Solution Approach 1:
The patent enables a single foot pedal to perform multiple mode selection functions through different press patterns (single press, double press, press and hold). This eliminates the need for multiple dedicated pedals for different modes, reducing the physical complexity and space requirements while maintaining the ability to select among multiple operating modes without removing hands from input devices
Solution Approach 2:
The patent segments the mode selection function into distinct operational patterns (different press durations, pause intervals, or combination presses) that can be recognized by the system. This segmentation allows a single physical pedal to control multiple modes through pattern recognition, reducing the number of physical components needed
Data Source
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AI summary
A robotic system has a plurality of user selectable operating modes. To select one of the operating modes, a user performs a distinguishing action which uniquely identifies a desired operating mode among the plurality of user selectable operating modes. A method implemented by a processor in the robotic system identifies the distinguishing action and places the robotic system in the user selected operating mode. The robotic system can also comprise a first manipulator coupled to a first instrument (231), a second manipulator coupled to a second instrument (211) and coupled control means for pivoting an entry guide (200).