Systems and methods for implementing a pointer-guided tracking system and a pointer-guided mechanical movable device control system
A system and method are provided for facilitating hands free and precise movement, translation and repositioning of a movable mechanical apparatus, including an operating room lighting system, mounted to a mechanically-movable base component including, for example, an articulable or articulated robotic-type arm, according to user input pointing commands, including laser or other like pointing commands initiated by a user. The user provides hands free designation of a point of focus with a pointing device. A sensor associated with the movable mechanical apparatus automatically detects the designated point of focus and a processor determines and executes a scheme of movement for moving the movable mechanical apparatus from a current position to a position proximate to the designated point of focus. A collision avoidance scheme is also provided for safety and to alert the user as to the presence of any impediment in the determined scheme of movement.
1. A mechanical implement movement system, comprising:
a base component that is configured to impart movement to an attached implement;
a movement control device that is configured to generate movement commands to the base component for the movement of the attached implement;
a pointing device configured to allow a user to designate a point of focus to which the movement of the attached implement is directed; and
at least one sensor device in communication with the movement control device; the at least one sensor device being configured to detect the point of focus designated by the pointing device as an input to the movement control device,
the movement control device
determining an initial position of the attached implement, a final position of the attached implement proximate to the point of focus, and a scheme of movement for the attached implement from the initial position to the final position, and
generating the movement commands to the base component according to the determined scheme of movement of the attached implement.
2. The mechanical implement movement system of claim 1 , further comprising a voice input device in communication with the movement control device, the voice input device being configured to accept user commands for the operation of the movement control device.
3. The mechanical implement movement system of claim 1 , the base component being an articulated robotic arm to which the attached implement is secured in a vicinity of a distal end.
4. The mechanical implement movement system of claim 3 , the at least one sensor device being mounted to the articulated robotic arm in proximity to the attached implement.
5. The mechanical implement movement system of claim 3 , the attached implement being a lighting component.
6. The mechanical implement movement system of claim 1 , the pointing device comprising at least one of a point light source or a laser spot generator.
7. The mechanical implement movement system of claim 1 , the at least one sensor device comprising a camera for detecting the point of focus designated by the user via the pointing device.
8. The mechanical implement movement system of claim 1 , the base component further comprising a plurality of separate electro-mechanical actuators that are individually configured to impart movement to the attached implement in individual axes of movement for the attached implement.
9. The mechanical implement control system of claim 8 , each of the plurality of separate electro-mechanical actuators comprising at least one of a stepper motor, an electro-motive actuator, and a hydraulic actuator.
10. The mechanical implement control system of claim 1 , further comprising an impediment sensing device that is configured to detect potential collision of the attached implement with an obstruction, the impediment sensing device generating a signal to the movement control device regarding the detected potential collision,
the movement control device generating at least one of (1) a movement inhibiting command to inhibit further movement of the attached implement according to the scheme of movement, and (2) an alert to the user of the detected potential collision.
11. A method for controlling movement of a mechanical implement, comprising:
energizing a base component that is configured to impart movement to an attached implement;
receiving, via at least one sensor, an input regarding a position of a point of focus to which the movement of the attached implement is directed, the at least one sensor detecting a designation of the position of the point of focus by a user directing a pointing device at the designated point of focus;
determining, with a processor, an initial position of the attached implement;
determining, with the processor, a final position of the attached implement proximate to the point of focus;
determining, with the processor, a scheme of movement for the attached implement from the initial position to the final position; and
generating, with the processor, the movement commands to the base component according to the determined scheme of movement of the attached implement.
12. The method of claim 11 , further comprising receiving, with the processor, a voice command from the user via a voice input device, the voice command directing one or more of the steps of the method to be executed by the processor.
13. The method of claim 11 , the base component being an articulated robotic arm to which the attached implement is secured in a vicinity of a distal end,
a generated movement commands directing manipulation of the articulated robotic arm to move the attached implement in multiple axes according to the determined scheme of movement.
14. The method claim 13 , the at least one sensor being mounted to the articulated robotic arm in proximity to the attached implement.
15. The method of claim 13 , the attached implement being a lighting component, the determined scheme of movement arranging the lighting component to illuminate the point of focus designated by the user with the pointing device.
16. The method of claim 11 , the pointing device comprising at least one of a point light source and a laser spot generator,
the at least one of the point light source and the laser spot generator projecting a point source of light or laser spot at the point of focus designated by the user.
17. The method of claim 16 , the at least one sensor comprising a camera for detecting the point source of light or laser spot at the point focus designated by the user.
18. The method of claim 11 , the base component further comprising a plurality of separate electro-mechanical actuators that are individually configured to impart movement to the attached implement in individual axes of movement for the attached implement,
the processor generating individual actuating signals directed to each of the plurality of separate electro-mechanical actuators to execute the determined scheme of movement for the attached implement.
19. The method of claim 18 , each of the plurality of separate electro-mechanical actuators comprising at least one of a stepper motor, an electro-motive actuator, and a hydraulic actuator.
20. The method of claim 1 , further comprising:
detecting, with an impediment sensing device, a potential collision of the attached implement with an obstruction, the impediment sensing device generating a signal to the processor regarding the detected potential collision,
the processor generating at least one of (1) a movement inhibiting command to inhibit further movement of the attached implement according to the scheme of movement, and (2) an alert to the user of the detected potential collision.