Steerable Viewer Mode Control for Hands-Free Robotic Imaging
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Solution Overview
Problem
Existing systems for controlling repositionable imaging devices in computer-assisted robotic systems require manual input that can be cumbersome and limit the operator's ability to perform tasks with both hands, particularly in surgical contexts where hands are already engaged with tools.
Innovation Solution
A steerable viewer mode (SVM) is activated and deactivated using a combination of pre-defined head and foot inputs, allowing hands-free operation of the imaging device, enabling the operator to control the view with head movements while keeping hands free for other tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual input devices are used to control the imaging device, then the operator can precisely control the view, but the operator's hands are occupied and cannot perform other tasks
Solution Approach 1:
The head input device serves multiple functions: it can detect head position for display unit control, detect specific head positions for mode activation/deactivation, and work in combination with foot input devices. This multi-functionality allows hands-free operation while maintaining precise control capabilities, resolving the contradiction between ease of operation and device complexity.
Solution Approach 2:
The system introduces head position detection and foot input detection as intermediary mechanisms between the operator's intent and the imaging device control. These intermediaries enable hands-free operation by translating head and foot movements into control commands, allowing the operator to perform other tasks with their hands while maintaining control over the imaging device.
2Adaptability or versatility
If the display unit moves in response to head motion, then the operator can control the view with head movements, but the operator cannot simultaneously control display unit motion with hands
Solution Approach 1:
The system dynamically switches between different operational modes (steerable viewer mode and non-steerable viewer mode) based on detected head and foot inputs. This dynamic adaptability allows the operator to choose the most suitable control mode for each task, enhancing versatility while managing control input complexity through mode-specific behaviors.
Solution Approach 2:
The operator can pre-activate steerable viewer mode using a combination of head and foot inputs before needing to perform hands-free viewing tasks. This preliminary action sets up the system in advance for the intended operation, allowing seamless transition to hands-free control without requiring complex real-time decision-making about control mode selection.
Data Source
AI summary
Embodiments relate to a computer-assisted robotic system, In some embodiments, the system includes a head input device, the head input device comprising a head input sensor configured to provide head input signals indicative of a an operator's head inputs, and a foot input device comprising a foot input sensor configured to provide foot input signals indicative of the operator's foot inputs. The system further includes a controller, configured to process the head input signals and the foot input signals, and identify, based on the processed head and foot input signals, that the operator has provided a combination of head and foot inputs corresponding to a steerable viewer mode activation command. The controller is further configured to cause the robotic system to enter a steerable viewer mode in response to identifying that the operator has provided a combination.