Virtual Selector for Teleoperated Manipulator Pairing
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Solution Overview
Problem
Existing robotic manipulator systems for teleoperated medical procedures lack intuitive methods for associating user input devices with manipulators, leading to complex interactions and reduced operator efficiency.
Innovation Solution
A computer-assisted medical system that includes teleoperated manipulators, a user input system, a display device, and a controller. The system uses a virtual selector overlaid on imagery of the workspace to intuitively associate user-operable portions of the input system with manipulators, providing human-detectable feedback for state management.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional association methods are used to pair user input devices with manipulators, then the system can establish control relationships, but the interaction becomes complex and operator efficiency decreases
Solution Approach 1:
A virtual selector serves as an intermediary visual element between the user input device and manipulator. The virtual selector appears on the display device and can be positioned to indicate which manipulator is currently selected for association with the user input device, simplifying the pairing process without requiring complex manual configuration procedures
Solution Approach 2:
The system provides visual feedback through the virtual selector on the display device, showing the operator which manipulator is currently selected for association with the user input device. This feedback mechanism allows for intuitive selection and confirmation of the association relationship, improving ease of operation
2Productivity
If multiple user input devices are associated with manipulators through complex procedures, then comprehensive control is achieved, but operator efficiency is reduced
Solution Approach 1:
The virtual selector is pre-configured on the display device to represent the association state between user input devices and manipulators before the actual control operation begins. This preliminary visual setup allows operators to quickly understand and establish associations without time-consuming procedures
Solution Approach 2:
The virtual selector creates a visual copy or representation of the manipulator selection state on the display device. This graphical representation allows operators to intuitively associate user input devices with manipulators by interacting with the visual copy rather than through complex system configurations, significantly reducing pairing time
Data Source
AI summary
A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode, associating a first manipulator with a portion of the user input system based on movement of the virtual selector relative to a represented location of the first instrument, and, in a following mode, controlling motion of the first 10 instrument in accordance to a second set of signals generated by the user input system in response to operation of the portion of the user input system by a user.