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System and method for instrument disturbance compensation

A technology of actuators, coordinate systems, applied in the field of reducing external interference to the posture of the instrument, which can solve the problems of destroying the sterile field, harming the patient, damaging the articulated arm and/or the end effector, etc.

Active Publication Date: 2017-08-18
INTUITIVE SURGICAL OPERATIONS INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the lock and / or brake are released, this may result in an undesired movement of the position and / or orientation of the articulated arm (and more importantly the tip of the instrument and / or end effector positioned within the patient's body)
This undesired movement could result in injury to the patient, injury to persons near the articulating arm and / or end effector, damage to the articulating arm and / or end effector, damage to other equipment near the articulating arm and / or end effector, damage to Bacteria and / or other undesired results

Method used

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  • System and method for instrument disturbance compensation
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  • System and method for instrument disturbance compensation

Examples

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Embodiment Construction

[0024] In the following description, specific details are clarified in order to describe some embodiments consistent with the present disclosure. However, it is obvious to those skilled in the art that some embodiments can be practiced without some or all of these specific details. The specific embodiments disclosed herein are illustrative and not restrictive. Those skilled in the art can implement other elements that fall within the scope and spirit of the present disclosure (although not specifically described). In addition, in order to avoid unnecessary repetition, one or more features shown and described as related to one embodiment may be combined with other embodiments, unless specifically stated otherwise or the one or more features make the embodiment It is non-functional. The term "including" means including but not limited to, and each of the included one or more individual items shall be considered optional unless otherwise stated. Similarly, the term "may" indica...

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PUM

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Abstract

A computer-assisted medical device including a first joint set on an articulated arm, a second joint set on the articulated arm, and a control unit coupled to the first joint set and second joint set. The control unit determines a disturbance to the first joint set caused by a release of one or more brakes and compensates for the disturbance using the second joint set to reduce motion to a position of a point of interest on the articulated arm. In some embodiments, the control unit compensates for the disturbance by determining an initial position for the point of interest with respect to a reference point, determining a predicted motion for the point of interest based on the disturbance to the first joint set, and sending a drive command to the second joint set to move the point of interest in a direction opposite to the predicted motion.

Description

[0001] Related application [0002] The present disclosure requires U.S. Provisional Patent Application No. 62 / 069,245, filed on October 27, 2014, entitled "System and Method for Integrated Operating Table" and in March 2015 The priority of US Provisional Patent Application No. 62 / 134,212 filed on the 17th entitled "System and Method for Reducing Tool Disturbances" is incorporated herein by reference in its entirety. Technical field [0003] The present disclosure relates generally to the operation of devices with articulated arms, and more specifically to reducing external interference with the instrument's posture. Background technique [0004] More and more devices are being replaced with autonomous and semi-autonomous electronic devices. This is especially true in today's hospitals, where there are a large number of autonomous and semi-autonomous electronic devices in operating rooms, interventional suites, intensive care units, emergency rooms, etc. For example, glass thermom...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30
CPCA61B34/30A61B2090/373A61B2034/2059A61B2090/508Y10S901/02A61B90/361A61B34/70A61B34/20A61B90/50A61B2034/305A61B34/35B25J9/06B25J9/1607B25J9/1641B25J9/1653B25J9/1682B25J19/0004B25J19/021
Inventor N·斯瓦鲁普P·G·格里菲思G·林奇D·米勒
Owner INTUITIVE SURGICAL OPERATIONS INC
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