Temporal non-overlap of teleoperation and headrest adjustment in a computer-assisted teleoperation system
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Solution Overview
Problem
Existing computer-assisted teleoperation systems face challenges in preventing temporal non-overlap of teleoperation and physical adjustment of the headrest, leading to potential operator discomfort and system performance issues.
Innovation Solution
A computer-assisted teleoperation system that includes an input device, a display unit, a headrest, and a control system, which enforces a temporal non-overlap of teleoperation of a follower device and physical adjustment to the headrest by switching between distinct modes for teleoperation and headrest adjustment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the system allows simultaneous teleoperation and headrest adjustment, then operator comfort and system responsiveness are improved, but temporal overlap between teleoperation and headrest adjustment causes undesired motion of the headrest and inadvertent motion of follower devices
Solution Approach 1:
The system dynamically switches between teleoperation mode and headrest adjustment mode based on operational context. The control system enables headrest adjustment only when not in teleoperation mode, and enables teleoperation only when not adjusting the headrest, creating adaptive temporal separation that resolves the contradiction between operator comfort and system reliability
Solution Approach 2:
The system implements periodic alternation between teleoperation and headrest adjustment functions through mode switching. By enforcing temporal non-overlap where one function is active while the other is inactive, the system prevents simultaneous operation conflicts while maintaining both functions available at different times
2Reliability
If the system enforces temporal non-overlap of teleoperation and headrest adjustment, then undesired motion of the headrest during teleoperation is prevented, but operator responsiveness and system flexibility are reduced
Solution Approach 1:
The mode switching mechanism dynamically adapts system behavior based on the current operational state. The control system monitors whether teleoperation is active and automatically enables or disables headrest adjustment accordingly, providing flexible adaptation that maintains reliability while preserving adaptability through context-aware control
3Ease of operation
If the system allows headrest adjustment during teleoperation, then operator comfort is improved, but inadvertent motion of follower devices occurs due to temporal overlap
Solution Approach 1:
The system uses periodic temporal separation through mode switching to prevent simultaneous headrest adjustment and teleoperation. By enforcing that headrest adjustment occurs only in dedicated adjustment mode (not during teleoperation mode), the system eliminates temporal overlap that would cause inadvertent follower device motion while preserving both functions
Data Source
AI summary
A computer-assisted teleoperation system and method for operating the same are provided that enforce a temporal non-overlap of a teleoperation of a follower device and a physical adjustment of a headrest of the computer-assisted teleoperation system.