US 2026/0240619 A1 · IMAGING DEVICE CONTROL VIA MULTIPLE INPUT MODALITIES

Abstract

Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure and a control system coupled to the repositionable structure. The repositionable structure includes a plurality of joints, a plurality of links coupled by the plurality of joints, and a plurality of actuators coupled to drive motion of the first repositionable structure. The repositionable structure is configured to support an imaging device. The control system is configured to determine a first user input from input received at a hand input modality, determine a second user input from input received at a head input modality, determine a movement command of the repositionable structure that moves the imaging device based on at least the first user input and the second user input, and cause, using the plurality of actuators, actuation of the repositionable structure based on the movement command.

Claims20

Dependent claims

A computer-assisted device comprising:

a first repositionable structure comprising a plurality of joints, a plurality of links coupled by the plurality of joints, and a plurality of actuators coupled to drive motion of the first repositionable structure, the first repositionable structure configured to support an imaging device;
and
a control system coupled to the first repositionable structure;
wherein the control system is configured to:
determine a first user input from input received at a hand input modality,
determine a second user input from input received at a head input modality,
determine a movement command of the first repositionable structure that moves the imaging device based on at least the first user input and the second user input, and
cause, using the plurality of actuators, actuation of the first repositionable structure based on the movement command.

5 more elements

A method of operating a computer-assisted device comprising a first repositionable structure and one or more processors, the one or more processors communicatively coupled to the first repositionable structure, the method comprising:

determining a first user input from input received at a hand input modality;
determining a second user input from input received at a head input modality;
determining a movement command of a repositionable structure based on at least the first user input and the second user input, the repositionable structure comprising a plurality of joints, a plurality of links coupled by the plurality of joints, and a plurality of actuators coupled to drive motion of the repositionable structure, the repositionable structure configured to support an imaging device;
and
causing, using the plurality of actuators, actuation of the repositionable structure based on the movement command.

2 more elements

One or more non-transitory machine-readable media comprising a plurality of machine-readable instructions which, when executed by one or more processors of a computer-assisted device comprising a repositionable structure wherein the repositionable structure comprises a plurality of joints, a plurality of links coupled by the plurality of joints, and a plurality of actuators coupled to drive motion of the repositionable structure, the repositionable structure configured to support an imaging device, are adapted to cause the one or more processors to perform a method comprising:

determining a first user input from input received at a hand input modality;
determining a second user input from input received at a head input modality;
determining a movement command of a repositionable structure based on at least the first user input and the second user input, the repositionable structure comprising a plurality of joints, a plurality of links coupled by the plurality of joints, and a plurality of actuators coupled to drive motion of the repositionable structure, the repositionable structure configured to support an imaging device;
and
causing, using the plurality of actuators, actuation of the repositionable structure based on the movement command.

2 more elements

Dependencies are inferred from the claim text.

Imaging device control via multiple input modalities

Life of this patent

Imaging device control via multiple input modalities

Life of this patent

Abstract

Claims20