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 given procedure, especially when they are not coupled in a known configuration, whether in medical or industrial contexts.
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 for 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 from a single operator input device, then the system can manage complex procedures with multiple instruments, but the control complexity increases significantly
Solution Approach 1:
The control system is segmented into multiple independent modules, each responsible for controlling a specific instrument. Each module contains its own movement command implementation logic, allowing instruments to be controlled independently while maintaining overall system coordination. This segmentation reduces the complexity of the central control system by distributing control functions across multiple specialized modules.
Solution Approach 2:
A coordinate transformation module acts as an intermediary between the operator input device and multiple instrument control modules. This intermediary transforms movement commands from a common reference frame into instrument-specific reference frames, enabling a single operator input device to control multiple instruments without requiring complex direct control logic in each module.
2Adaptability or versatility
If instruments are not coupled in a known configuration, then the system can accommodate flexible and changeable configurations, but the control accuracy and precision decrease
Solution Approach 1:
The system employs dynamic coordinate transformation that adapts to the actual configuration of instruments at runtime. Rather than relying on fixed, pre-determined configurations, the control system dynamically calculates transformation parameters based on real-time instrument positions and orientations, maintaining control precision regardless of configuration changes.
Solution Approach 2:
The control system changes its transformation parameters based on the actual instrument configurations. By detecting and adapting to different instrument arrangements, the system adjusts its control algorithms and coordinate transformations accordingly, maintaining precision across various configurations without requiring physical recoupling of instruments.
3Ease of operation
If orientation comparison is performed to determine motion direction, then intuitive control is improved, but the computational requirements and processing time increase
Solution Approach 1:
The system performs preliminary calculations of orientation relationships and transformation parameters during system initialization and configuration phases. By pre-computing these values, the real-time control process requires minimal additional computation, maintaining intuitive control responsiveness without significant processing delays during actual instrument operation.
Data Source
AI summary
Systems and methods for a system include a manipulator configured to support an instrument moveable within an instrument workspace, the instrument having an instrument frame of reference; an input device configured to receive a movement command from an operator; and a control system. The control system is configured to determine a difference between an orientation of the instrument and an orientation of a field of view of the instrument workspace; adjust, based on the difference, a mapping to apply to the movement command to generate an implementable movement command for the instrument; further adjust the mapping based on an ergonomic offset to provide for a difference between an orientation of the input device and the orientation of the instrument; map, based on the adjusted mapping, the movement command to a motion of the instrument in the instrument frame of reference; and cause the instrument to move according to the motion.