Secondary Instrument Control With Orientation-Based Motion Mapping
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Solution Overview
Problem
Control of multiple instruments in changeable configurations becomes complicated as more instruments are involved in a procedure, especially when they are not coupled in a known configuration, whether in medical or industrial applications.
Innovation Solution
A teleoperational system that compares the orientation of an instrument with the field of view to adjust instrument motion based on predefined criteria, allowing intuitive control of multiple instruments through an operator input device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple instruments are controlled in changeable configurations, then the versatility and adaptability of the system is improved, but the device complexity and difficulty of control increases
Solution Approach 1:
The control system implements a universal control architecture that can handle multiple instruments with different configurations through a single integrated system. The system uses a common reference frame transformation mechanism that works across all instruments, allowing one control interface to manage diverse instrument types and configurations without requiring separate control systems for each instrument.
Solution Approach 2:
The system dynamically adjusts control parameters based on instrument orientation and configuration. By changing the reference frame transformation parameters according to the specific instrument configuration and orientation criteria, the system adapts its control behavior to match the current operational context, simplifying control for each specific configuration while maintaining versatility across all configurations.
2Adaptability or versatility
If multiple instruments are controlled in changeable configurations, then the adaptability of the system is improved, but the ease of operation deteriorates
Solution Approach 1:
The control system continuously monitors instrument orientation relative to the field of view and automatically adjusts the reference frame transformation based on orientation criteria. This feedback mechanism eliminates the need for operators to manually calculate or adjust control parameters for different instrument configurations, making the system adaptable to various configurations while maintaining ease of operation through automatic adaptation.
Solution Approach 2:
The system dynamically transforms control commands from a fixed operator reference frame to instrument-specific reference frames based on real-time orientation comparisons. This dynamic adaptation allows the control system to automatically adjust to changing instrument configurations and orientations, providing intuitive control that adapts to the current operational state without requiring operator intervention.
3Ease of operation
If orientation-based motion adjustment is implemented, then the ease of operation is improved, but the device complexity increases
Solution Approach 1:
The control system introduces an intermediate reference frame transformation layer between the operator's control inputs and the instrument actuation. This intermediary mechanism automatically handles the complexity of orientation-based adjustments by transforming commands through calculated reference frames, providing intuitive control to the operator while containing the system complexity within the automated transformation logic rather than requiring complex operator calculations.
Data Source
AI summary
Techniques for controlling an instrument include receiving a movement command; comparing an orientation of the instrument with an orientation of a field of view of an imaging system to produce an orientation difference, the imaging system being configured to capture images of an instrument workspace in which the instrument is located; converting the movement command to instrument motion based on a mapping; and causing the instrument to move according to the instrument motion. When the orientation difference does not meet an orientation criterion set, the mapping is a first mapping that maps the movement command to motion in a first direction relative to an instrument frame of reference. When the orientation difference meets the orientation criterion set, the mapping is a second mapping that maps the movement command to motion in a second direction relative to the instrument frame of reference. The second direction differs from the first direction.