Teleoperation Instrument Switching Using Proxy Position Matching
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Solution Overview
Problem
Conventional teleoperational medical systems face difficulties in efficiently switching control assignments between instruments, often requiring physicians to assume uncomfortable and awkward hand positions, and may occur outside their direct view.
Innovation Solution
A method and system for reassigning control between teleoperational instruments by detecting an instrument reassignment input, computing proxy positions, and associating the master controller with the target instrument based on these positions, using visual and haptic cues to facilitate seamless switching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the physician manually repositions their hands to switch control between instruments, then control assignment can be changed, but the physician experiences uncomfortable and awkward hand positions
Solution Approach 1:
The patent replaces the mechanical hand repositioning action with a computational proxy position matching system. The control system computes virtual proxy positions for both the master controller and slave instruments, then automatically matches them to determine control assignment, eliminating the need for physical hand repositioning and associated discomfort.
Solution Approach 2:
The patent introduces proxy positions as an intermediary computational layer between the master controller and slave instruments. These proxy positions serve as virtual representatives that enable control switching through position matching rather than direct physical manipulation, resolving the contradiction between ease of switching and physician comfort.
2Adaptability or versatility
If the control system requires physical hand repositioning to switch instruments, then control assignment changes can be detected, but the switching process occurs outside the physician's direct view
Solution Approach 1:
The patent creates virtual copies (proxy positions) of the master controller and slave instruments in a computational space. These proxies enable the switching process to be visualized and controlled through on-screen representations rather than physical movements, maintaining adaptability while improving visibility and awareness of the switching process.
3Adaptability or versatility
If the system uses complex manual repositioning procedures to switch control, then control assignment can be changed, but operational efficiency decreases
Solution Approach 1:
The patent replaces complex mechanical repositioning procedures with automated computational proxy position matching. The control system automatically computes and matches proxy positions to determine control assignment, dramatically improving switching efficiency while maintaining full adaptability for controlling multiple instruments.
Data Source
AI summary
A system comprises a teleoperational assembly configured to support a plurality of instruments, a display system configured to display a field of view of an imaging device, a master controller configured to receive input from an operator to control at least one of the plurality of instruments, and a control system configured to reassign control by the master controller of a first instrument of the plurality of instruments to a second instrument of the plurality of instruments. The control system reassigns control by detecting activation of an instrument reassignment input, causing the display system to present indicators, receiving a user input at the master controller, causing the display system to update one or more of the indicators based on the received user input, and assigning control of the second instrument to the master controller based on the received user input.