Computer-Assisted Surgical Console Mode Control Using Head and Eye Tracking
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Solution Overview
Problem
Conventional computer-assisted surgical systems lack effective methods for selecting and controlling the operating mode of user control systems based on the presence and gaze direction of the surgeon, leading to potential unintentional and uncontrolled movements of teleoperated surgical instruments.
Innovation Solution
A system and method that utilize head presence sensors and eye tracking data to determine the operating mode of a user control system, switching between active, suspended, and inactive modes based on the presence and gaze of the surgeon's head and eyes through the eyepiece.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If head presence detection is used to control operating mode, then safety against unintentional instrument movement is improved, but system complexity increases due to additional sensors and control logic
Solution Approach 1:
The patent combines head presence detection (via infrared sensors detecting blocked transverse beams) and eye gaze detection (via eye tracking sensors) into a unified operating mode control system. This merging of multiple detection mechanisms allows the system to distinguish between intentional and unintentional head movements, improving safety while managing complexity through integrated control logic that transitions between inactive, suspended, and active modes based on combined sensor inputs
2Measurement precision
If eye tracking data is used to determine operating mode, then control precision over surgical instruments is improved, but device complexity increases due to additional eye sensors and processing requirements
Solution Approach 1:
The patent introduces eye tracking data as an intermediary indicator of surgeon intent. Rather than directly controlling instruments based on head position alone, the system uses eye gaze detection as an intermediate signal to infer whether the surgeon intends to interact with the control system. This intermediary layer improves control precision by distinguishing between glances at the display versus focused viewing through eyepieces, while the complexity is managed through systematic integration into the existing head presence detection framework
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances safety and efficiency by automatically adjusting the user control system's mode to match the surgeon's intent, preventing unintentional instrument movement and allowing for ergonomic adjustments during surgical procedures.
Implementation Method 1
detecting whether a head of a user is located within a vicinity of a viewer console included in the user control system (e.g., by sensing whether a series of transverse infrared beams are blocked in front of eyepieces of the viewer console)
Implementation Method 2
detect whether an eye of the user is gazing through an eyepiece included in the user control system
Data Source
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AI summary
An exemplary system may access head presence data and eye tracking data. The head presence data indicates a presence or an absence of a head of a user within a vicinity of a viewer console. The eye tracking data indicates whether an eye of a user is gazing through an eyepiece. If the head presence data indicates that the head of the user is present and the eye tracking data indicates that the eye of the user is gazing through the eyepiece, the system directs the user control system to operate in a first operating mode. If the head presence data indicates that the head of the user is present and the eye tracking data indicates that the eye of the user is not gazing through the eyepiece, the system directs the user control system to operate in a second operating mode different from the first operating mode.