US-20260124012-A1 - TECHNIQUES FOR ADJUSTING A DISPLAY UNIT OF A VIEWING SYSTEM

US20260124012A1US 20260124012 A1US20260124012 A1US 20260124012A1US-20260124012-A1

Abstract

Techniques for adjusting a display unit of a viewing system include a repositionable structure configured to support a display unit, first and second hand-input sensors configured to receive inputs from the operator, and a control unit. The control unit is configured to receive a first input from the first hand-input sensor; receive a second input from the second hand-input sensor; in response to a difference between a first direction of the first input and a second direction of the second input being greater than or equal to a first threshold, set a commanded motion to zero; in response to the difference between the first direction and the second direction being less than the first threshold, determine the commanded motion based on the first input and the second input; and command an actuator to move the repositionable structure based on the commanded motion.

Inventors

Ehsan Noohi Bezanjani
Lawton N. Verner

Assignees

Intuitive Surgical Operations, Inc.

Dates

Publication Date: 20260507
Application Date: 20260102

Claims (20)

1 . A computer-assisted device comprising: a repositionable structure configured to support a display unit, the repositionable structure comprising an actuator configured to move the repositionable structure, the display unit configured to display images viewable by an operator; first and second hand-input sensors configured to receive inputs from the operator; and a control unit communicably coupled to the repositionable structure, the first hand-input sensor, and the second hand-input sensor; wherein the control unit is configured to: receive a first input from the first hand-input sensor; receive a second input from the second hand-input sensor; in response to a difference between a first direction of the first input and a second direction of the second input being greater than or equal to a first threshold, set a commanded motion to zero; in response to the difference between the first direction and the second direction being less than the first threshold, determine the commanded motion based on the first input and the second input; and command the actuator to move the repositionable structure based on the commanded motion.
2 . The computer-assisted device of claim 1 , wherein to determine the commanded motion, the control unit is configured to: in response to a determination that the first direction and the second direction are in opposite directions about an axis, set a composite rotational input to zero; in response to a determination that the first direction and the second direction are in a same direction about the axis: determine a virtual rotational hand input based on the first input and the second input; and set the composite rotational input to a sum of the virtual rotational hand input and the first input or the second input having a smallest magnitude; and determine the command motion from the composite rotational input.
3 . The computer-assisted device of claim 2 , wherein: a first magnitude of the first input is greater than a second magnitude of the second input; and to determine the virtual rotational hand input, the control unit is configured to: reduce the first magnitude to the second magnitude.
4 . The computer-assisted device of claim 2 , wherein to determine the commanded motion, the control unit is further configured to: determine a commanded rotational velocity for the display unit based on the composite rotational input.
5 . The computer-assisted device of claim 1 , wherein: the first input and the second input include rotations about different axes; and to determine the commanded motion based on the first input and the second input, the control unit is configured to, in response to a determination that the first direction and the second direction differ by less than a threshold angle: determine a virtual rotational hand input based on the first input and the second input; and set a composite rotational input of the commanded motion to a sum of the virtual rotational hand input and the first input or the second input having a smallest magnitude; and determine the command motion based on the composite rotational input.
6 . The computer-assisted device of claim 1 , wherein: a first magnitude of the first input is larger than a second magnitude of the second input; and to determine the commanded motion, the control unit is configured to: determine a commanded magnitude of the commanded motion based on a combination of the second input and a scaled first input, the scaled first input being a scaling of the first input based on at least one of the first magnitude or the second magnitude.
7 . The computer-assisted device of claim 6 , wherein to determine the commanded motion, the control unit is further configured to: determine a third input based on the first input and the second input; generate a fourth input by scaling the third input based on first direction and the second direction; in response to a combination of the first input and the second input being within a region around the fourth input, determine a magnitude of the commanded motion based on the combination; and in response to the combination being outside the region, determine the magnitude of the commanded motion based on a fifth input, wherein the fifth input is within the region.
8 . The computer-assisted device of claim 7 , wherein the control unit is further configured to determine a size or shape of the region around the fourth input based on a ratio of the first magnitude and the second magnitude.
9 . The computer-assisted device of claim 1 , wherein to determine the commanded motion, the control unit is configured to: in response to a difference between the first input and the second input being less than or equal to a second threshold, determine the commanded motion based on a sum of the first input and the second input; and in response to the difference between the first input and the second input being greater than the second threshold, determine the commanded motion based on the sum of the first input and the second input and a scaling factor.
10 . The computer-assisted device of claim 1 , further comprising a head-input sensor, wherein the control unit is further configured to: receive a third input from the head-input sensor; and determine the commanded motion further based on the third input.
11 . The computer-assisted device of claim 10 , wherein the control unit is further configured to: in response to a determination that a magnitude of the third input is not less than a baseline magnitude: generate a fourth input by subtracting the magnitude of the third input from the baseline magnitude, and determine the commanded motion based on a scaling of the fourth input and a combination of the first input and the second input.
12 . The computer-assisted device of claim 1 , wherein the repositionable structure is configured to move the display unit within a plane, and wherein the first direction and the second direction are in the plane.
13 . A method comprising: receiving, by a control unit, a first input from a first hand-input sensor configured to receive inputs from an operator; receiving, by the control unit, a second input from a second hand-input sensor configured to receive inputs from the operator; in response to a difference between a first direction of the first input and a second direction of the second input being greater than or equal to a first threshold, setting, by the control unit, a commanded motion to zero; in response to the difference between the first direction and the second direction being less than the first threshold, determine the commanded motion based on the first input and the second input; determining, by the control unit, the commanded motion based on the first input and the second input; and commanding, by the control unit, an actuator to move a repositionable structure based on the commanded motion, the repositionable structure configured to support a display unit, the display unit configured to display images viewable by the operator.
14 . The method of claim 13 , wherein determining the commanded motion comprises: in response to determinating that the first direction and the second direction are in opposite directions about an axis, setting a composite rotational input to zero; in response to determining that the first direction and the second direction are in a same direction about the axis: determining a virtual rotational hand input based on the first input and the second input; and setting the composite rotational input to a sum of the virtual rotational hand input and the first input or the second input having a smallest magnitude; and determining the command motion from the composite rotational input.
15 . The method of claim 14 , wherein determining the commanded motion further comprises: determining a commanded rotational velocity for the display unit based on the composite rotational input.
16 . The method of claim 13 , wherein: the first input and the second input include rotations about different axes; and determining the commanded motion comprises, in response to determining that the first direction and the second direction differ by less than a threshold angle: determining a virtual rotational hand input based on the first input and the second input; and setting a composite rotational input of the commanded motion to a sum of the virtual rotational hand input and the first input or the second input having a smallest magnitude; and determining the command motion based on the composite rotational input.
17 . The method of claim 13 , wherein: a first magnitude of the first input is larger than a second magnitude of the second input; and determining the commanded motion comprises: determining a commanded magnitude of the commanded motion based on a combination of the second input and a scaled first input, the scaled first input being a scaling of the first input based on at least one of the first magnitude or the second magnitude.
18 . The method of claim 13 , further comprising: receiving, by the control unit, a third input from a head-input sensor; and determining, by the control unit, the commanded motion further based on the third input.
19 . The method of claim 18 , further comprising: in response to determining that a magnitude of the third input is not less than a baseline magnitude: generating, by the control unit, a fourth input by subtracting the magnitude of the third input from the baseline magnitude, and determining, by the control unit, the commanded motion based on a scaling of the fourth input and a combination of the first input and the second input.
20 . One or more non-transitory machine-readable media comprising a plurality of machine-readable instructions which when executed by one or more processors are adapted to cause the one or more processors to perform a method comprising: receiving a first input from a first hand-input sensor configured to receive inputs from an operator; receiving a second input from a second hand-input sensor configured to receive inputs from the operator; in response to a difference between a first direction of the first input and a second direction of the second input being greater than or equal to a first threshold, setting a commanded motion to zero; in response to the difference between the first direction and the second direction being less than the first threshold, determine the commanded motion based on the first input and the second input; determining the commanded motion based on the first input and the second input; and commanding an actuator to move a repositionable structure based on the commanded motion, the repositionable structure configured to support a display unit, the display unit configured to display images viewable by the operator.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS The present application is a continuation of U.S. patent application Ser. No. 18/254,413, filed May 25, 2023, entitled “Techniques for Adjusting a Display Unit of a Viewing System”, which is a U.S. National Stage patent application of International Patent Application No. PCT/US2021/061234, filed Nov. 30, 2021, and claims the benefit of U.S. Provisional Patent Application No. 63/174,754, entitled “Techniques for Adjusting a Display Unit of a Viewing System” and filed Apr. 14, 2021, and additionally claims the benefit of U.S. Provisional Patent Application No. 63/119,603, entitled “Techniques for Adjusting a Display Unit of a Viewing System” and filed Nov. 30, 2020. The disclosures of each of which are incorporated by reference herein. TECHNICAL FIELD The present disclosure relates generally to electronic devices and more particularly to techniques for adjusting a display unit of a viewing system. BACKGROUND More and more devices are being replaced with computer-assisted electronic devices. This is especially true in industrial, entertainment, educational, and other settings. As a medical example, the hospitals of today have large arrays of electronic devices being found in operating rooms, interventional suites, intensive care wards, emergency rooms, and/or the like. Many of these electronic devices may be capable of autonomous or semi-autonomous motion. It is also common for personnel to control the motion and/or operation of electronic devices using one or more input devices located at a user control system. As a specific example, minimally invasive, robotic telesurgical systems permit surgeons to operate on patients from bedside or remote locations. Telesurgery refers generally to surgery performed using surgical systems where the surgeon uses some form of remote control, such as a servomechanism, to manipulate surgical instrument movements rather than directly holding and moving the instruments by hand. When an electronic device is used to perform a task at a worksite, one or more imaging devices (e.g., an endoscope, an optical camera, and/or an ultrasound probe) can capture images of the worksite that provide visual feedback to an operator who is monitoring and/or performing the task. The imaging device(s) may be controllable to update a view of the worksite that is provided, via a display unit, to the operator. The display unit may be a monoscopic or stereoscopic display device having lenses or view screens. To use the display unit, the operator positions his or her eyes so as to see images displayed on the lenses or view screens of the display unit. Because each operator may have a different size or prefer a different posture when using the display unit of a viewing system, an operator may want to make ergonomic adjustments to the position and orientation of the display unit from time to time. However, existing ergonomic adjustment techniques can disrupt workflow, be cumbersome or unintuitive to use, or be prone to accidental activation. Accordingly, improved techniques for adjusting display units of viewing systems are desirable. SUMMARY Consistent with some embodiments, a computer-assisted device includes a repositionable structure configured to support a display unit, the repositionable structure comprising an actuator configured to move the repositionable structure, the display unit configured to display images viewable by an operator; first and second hand-input sensors configured to receive inputs from the operator; and a control unit communicably coupled to the repositionable structure, the first hand-input sensor, and the second hand-input sensor, where the control unit is configured to: receive a first input from the first hand-input sensor, receive a second input from the second hand-input sensor, and in response to satisfaction of a criteria set, the criteria set including that a first magnitude of the first input and a second magnitude of the second input are greater than a first threshold: determine a commanded motion based on the first and second inputs, and command the actuator to move the repositionable structure based on the commanded motion. Consistent with other embodiments, a method includes receiving a first input from a first hand-input sensor configured to receive inputs from an operator, receiving a second input from a second hand-input sensor configured to receive inputs from the operator, and in response to satisfaction of a criteria set, the criteria set including that a first magnitude of the first input and a second magnitude of the second input are greater than a first threshold: determining a commanded motion based on the first and second inputs, and commanding an actuator to move a repositionable structure based on the commanded motion, the repositionable structure configured to support a display unit, the display unit configured to display images viewable by the operator. Other embodiments include, without limitation, one or more