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    System and method for detection and avoidance of collisions of robotically-controlled medical devices
    14.
    发明申请
    System and method for detection and avoidance of collisions of robotically-controlled medical devices 有权
    用于检测和避免机器人控制的医疗设备碰撞的系统和方法

    公开(公告)号：US20150005785A1

    公开(公告)日：2015-01-01

    申请号：US14368989

    申请日：2012-03-27

    Applicant: St. Jude Medical, Atrial Fibrillation Division, Inc.

    Inventor： Eric S. Olson

    IPC: A61B19/00

    CPC classification number: A61B34/37 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/301 ,  A61M2025/0166 ,  F04C2270/041 ,  G06F19/00 ,  G06F19/3418 ,  Y10S901/09

    Abstract: A robotic catheter control system includes a collision detection logic configured to determine a collision metric indicative of a collision between a medical device that is manipulated by the robotic control system and an object. The object may be an anatomical feature or can be another medical device, including another device being manipulated by the robotic control system. The collision detection logic produces virtual representations of the medical device and the object and uses these representation to determine collision. Geometrical solids, such as spheres, are used to represent the outer surfaces of the devices and the logic determines whether the respective surfaces intersect, thereby indicating collision. Collision avoidance involves estimating future device poses and then computing an alternate path computation so as avoid predicted collision(s).

    Abstract translation: 机器人导管控制系统包括碰撞检测逻辑，其被配置为确定指示由机器人控制系统操纵的医疗装置与对象之间的冲突的冲突度量。 该对象可以是解剖特征，或者可以是另一医疗装置，包括由机器人控制系统操纵的另一装置。 碰撞检测逻辑产生医疗设备和对象的虚拟表示，并使用这些表示来确定碰撞。 诸如球体的几何固体用于表示装置的外表面，并且逻辑确定各个表面是否相交，从而指示碰撞。 碰撞避免涉及估计未来的设备姿势，然后计算备用路径计算，以避免预测的碰撞。

    System and method for detection and avoidance of collision of robotically-controlled medical devices
    18.
    发明申请
    System and method for detection and avoidance of collision of robotically-controlled medical devices 审中-公开
    用于机器人控制的医疗设备的检测和避免碰撞的系统和方法

    公开(公告)号：US20160324587A1

    公开(公告)日：2016-11-10

    申请号：US15148078

    申请日：2016-05-06

    Applicant: St. Jude Medical, Atrial Fibrillation Division, Inc.

    Inventor： Eric S. Olson

    IPC: A61B34/37 ,  G06F19/00 ,  A61B34/20

    CPC classification number: A61B34/37 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/301 ,  A61M2025/0166 ,  F04C2270/041 ,  G06F19/00 ,  G06F19/3418 ,  Y10S901/09

    Abstract: A robotic catheter control system includes a collision detection logic configured to determine a collision metric indicative of a collision between a medical device that is manipulated by the robotic control system and an object. The object may be an anatomical feature or can be another medical device, including another device being manipulated by the robotic control system. The collision detection logic produces virtual representations of the medical device and the object and uses these representation to determine collision. Geometrical solids, such as spheres, are used to represent the outer surfaces of the devices and the logic determines whether the respective surfaces intersect, thereby indicating collision. Collision avoidance involves estimating future device poses and then computing an alternate path computation so as avoid predicted collision(s).

    Abstract translation: 机器人导管控制系统包括碰撞检测逻辑，其被配置为确定指示由机器人控制系统操纵的医疗装置与对象之间的冲突的冲突度量。 该对象可以是解剖特征，或者可以是另一医疗装置，包括由机器人控制系统操纵的另一装置。 碰撞检测逻辑产生医疗设备和对象的虚拟表示，并使用这些表示来确定碰撞。 诸如球体的几何固体用于表示装置的外表面，并且逻辑确定各个表面是否相交，从而指示碰撞。 碰撞避免涉及估计未来的设备姿势，然后计算备用路径计算，以避免预测的碰撞。

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