48 results about "Instrument Driver" patented technology

A robotic medical system comprises a medical instrument assembly having a retainer, a serial array of instruments disposed in the retainer, a chamber, and an instrument driver. The robotic medical system further comprises a user interface configured for generating at least one command signal, a drive unit coupled to the first mechanism, second mechanism, and instrument driver, and an electric controller configured, in response to the command signal(s), for directing the drive unit to linearly displace the array of instruments within the retainer, to displace a selected one of the instruments from the retainer into the chamber, and to distally advance the instrument driver within the chamber to engage the selected instrument.

A system and associated method for delivering to an internal body site a selected one of a plurality of instruments. An instrument storage chamber is providing having passages for separately accommodating a plurality of instruments. An outlet guide tube couples from the instrument storage chamber and receives a selected one of these instruments for delivery to an internal operative site. An indexing mechanism is provided associated with the chamber for causing relative displacement between the instruments and the outlet guide tube. An instrument driver displaces the registered instrument from the chamber into the outlet guide tube for delivery to the internal operative site.

A system and associated method for delivering to an internal body site a selected one of a plurality of instruments including fluid-dispensing instruments. An instrument storage chamber is providing having passages for separately accommodating the plurality of instruments. An outlet guide tube couples from the instrument storage chamber and receives a selected one of these instruments for delivery to an internal operative site. An indexing mechanism is provided associated with the chamber for causing relative displacement between the instruments and the outlet guide tube. An instrument driver displaces the registered instrument from the chamber into the outlet guide tube for delivery to the internal operative site.

An instrument driver comprises a base and a jaw assembly coupled to the base. The jaw assembly includes a first jaw having a gripping surface and a second jaw having a gripping surface. The instrument driver further comprises a driver assembly operably coupled to the jaw assembly to advance an elongated member relative to the base by translating the first and second jaws toward each other, thereby closing the jaw assembly and gripping the member between the respective gripping surfaces of the first and second jaws, translating the jaw assembly in a first axial direction when the jaw assembly is closed, translating the first and second jaws away from each other, thereby opening the jaw assembly and releasing the member from between the respective gripping surfaces of the first and second jaws, and translating the jaw assembly in a second axial direction when the jaw assembly is opened.

A system and method for controlling an instrumentation system, wherein the present invention includes an improved instrument driver software architecture. The instrument driver software architecture of the present invention provides a number of features, including improved simulation features. The system may comprise a computer system comprising a CPU and memory. The memory of the computer system may store a user application, a class driver, and a class simulation driver. The user application is operable to perform an application using an instrument, wherein the instrument is of a first class. The class driver is operable to receive calls from the user application, wherein the class driver is common to a plurality of instruments of the first class. The class driver may then call a class simulation driver, wherein the class simulation driver is operable to simulate operation of the instrument. For example, the class simulation driver may be operable to simulate output values and return values of function calls. The class simulation driver is preferably operable to simulate operation of the plurality of instruments of the first class. The memory may also store a specific driver which is specific to the respective instrument. The class simulation driver may be operable to simulate operation of at least a portion of the specific driver. The class simulation driver may also be operable to simulate operation of at least a portion of the specific driver for each of the plurality of instruments of the first class.

An instrument driver comprises a base and a jaw assembly coupled to the base. The jaw assembly includes a first jaw having a gripping surface and a second jaw having a gripping surface. The instrument driver further comprises a driver assembly operably coupled to the jaw assembly to advance an elongated member relative to the base by translating the first and second jaws toward each other, thereby closing the jaw assembly and gripping the member between the respective gripping surfaces of the first and second jaws, translating the jaw assembly in a first axial direction when the jaw assembly is closed, translating the first and second jaws away from each other, thereby opening the jaw assembly and releasing the member from between the respective gripping surfaces of the first and second jaws, and translating the jaw assembly in a second axial direction when the jaw assembly is opened.

An instrument driver comprises opposing rotatable gripping pads. Each of the gripping pads includes an outer circular rim and a center hub. The pads are configured for applying a gripping force to an elongated member. The instrument driver further comprises shafts affixed to the center hubs, and a driver assembly configured for rotating at least one of the shafts, thereby causing the pads to rotate in opposite directions to linearly translate the gripped member. Each of the pads further includes a framework for partially collapsing in response to the gripping force, such that portions of the rims flatten to contact each other. Each rim has a concave gripping surface in order to facilitate vertical centering of the member between the pads. Each of the pads further includes a pair of upper and lower sprockets for interlacing with each other to prevent the elongated member from slipping out between the pads.

A robotic medical system comprises an instrument driver having a driver shaft, a driver cable slidably disposed through the shaft, and a driver coupling member respectively mounted to the driver cable, and an instrument having an instrument shaft, an end effector, an instrument cable slidably disposed through the shaft for actuating the end effector, and an instrument coupling member mounted to the instrument cable. The robotic medical system further comprises a storage chamber having a passage that stores the instrument, a drive unit coupled to the instrument driver, and an electric controller configured for directing the drive unit to distally advance the instrument driver within the passage of the storage chamber and engage the driver coupling member and instrument coupling member, and for directing the drive unit to proximally retract the instrument driver within the passage of the storage chamber and disengage the driver coupling member and instrument coupling member.

Embodiments of the invention provide a debugging tool configured to translate a pre-compiled binary shader as part of debugging a graphics application running on a remote device. An instrumented driver may capture and serialize each graphics API call invoked by a graphics application running on the remote device along with any pre-compiled binary shader programs supplied by the graphics application. The graphical application debugger may translate the shader program into a form appropriate for graphics hardware present on the host system. By replaying the same sequence of API calls invoked on the target device using the same shader programs, the graphical application debugger may generate and display the same image displayed on the target device without the latency of waiting for a full set of framebuffer data to be transmitted over the communication link for each frame rendered on the target device.

An application programming interface (API) for synchronizing multiple devices in a system. The API includes a plurality of functions invocable in a program to synchronize multiple devices, where each function is executable to perform a respective functionality related to synchronizing the devices, and at least one of the functions is executable to access a plurality of instrument drivers corresponding respectively to the plurality of devices to synchronize the plurality of devices. In synchronizing the plurality of devices, the functions determine a trigger clock signal for each of the plurality of devices, and synchronize the plurality of devices based on the determined trigger clock signals. The API also includes a plurality of attributes corresponding to respective properties of the system related to synchronization of the devices, including one or more trigger attributes and / or one or more trigger clock attributes for each of the devices. The API representations may be text-based and / or graphical.

A device may operate a guide wire and be operable by a single operator digit. The device may include an insertion control device for advancing the guide wire in a forward and in a reverse direction and along a longitudinal axis of the guide wire; and a rotary device for rolling a guide wire about the longitudinal axis. A robotic instrument driver may be operatively coupled to the device and configured to control axial movement of the guide wire along the longitudinal axis according to input received from the insertion control device and to control rotational movement of the guide wire according to input received from the rotary device.

A method and apparatus for performing parallel asynchronous testing of a plurality of optical modules utilizes state machines that may be implemented in a common controller. Desired optical tests are selected by an operator. The invention determines if a testing process or instrument required for the selected optical tests is available. A COM port may also be locked for each of the selected optical tests from among a plurality of COM ports to prevent interference between different tests. By reserving resources such as COM ports and testing instruments in this fashion the invention may asynchronously initiate execution of the selected optical tests. If a resource such as a COM port, testing process or instrument is not currently available, the test is place in COM port and testing queues to await availability of that resource. Once a test is completed, the resource is unlocked so that one of the state machines may asynchronously initiate another test. Various displays are generated so that an operator may view the progress of each of the tests. A database is utilized to store test results as well as test recipes and test instrument drivers that aid in the control of a testing architecture.

A system and method for CT guided instrument targeting including a radiolucent instrument driver; a robot and a control box. The robot includes a robotic module that positions the radiolucent driver about two directions coincident a predetermined point. The control device is connected to the robot and the radiolucent instrument driver. The control driver sends a robot control signal to the robot that causes the robotic module to place the radiolucent instrument driver in a desired orientation with respect to the predetermined point. After the radiolucent instrument driver is in the desired orientation, the control device sends a driver control signal to the radiolucent instrument driver that causes the radiolucent driver to insert a medical instrument or device through the predetermined point to a location proximate a target point in a patient.

A robotic medical system comprises a medical instrument assembly having a retainer, a serial array of instruments disposed in the retainer, a chamber, and an instrument driver. The robotic medical system further comprises a user interface configured for generating at least one command signal, a drive unit coupled to the first mechanism, second mechanism, and instrument driver, and an electric controller configured, in response to the command signal(s), for directing the drive unit to linearly displace the array of instruments within the retainer, to displace a selected one of the instruments from the retainer into the chamber, and to distally advance the instrument driver within the chamber to engage the selected instrument.

A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter. The present embodiment further contemplates a robotic surgical method for the articulation of a steerable catheter wherein an input device is manipulated to communicate a desired catheter position to a control computer and motor torque commands are outputted to an instrument driver. The robotic system may further comprise a torque sensor. The robotic system may also incorporate closed loop feedback in which data from the torque measuring device is used to ensure that the torque in the motor or tension in the pull-wire closely matches the motor torque command from the control computer.

A robotic medical system comprises a medical instrument assembly having a retainer, a serial array of instruments disposed in the retainer, a chamber, and an instrument driver. The robotic medical system further comprises a user interface configured for generating at least one command signal, a drive unit coupled to the first mechanism, second mechanism, and instrument driver, and an electric controller configured, in response to the command signal(s), for directing the drive unit to linearly displace the array of instruments within the retainer, to displace a selected one of the instruments from the retainer into the chamber, and to distally advance the instrument driver within the chamber to engage the selected instrument.