-
公开(公告)号：US20230263373A1
公开(公告)日：2023-08-24
申请号：US18308906
申请日：2023-04-28
CPC分类号： A61B1/0051 , A61B34/20 , A61B34/76 , A61B17/00234 , A61B1/005 , A61B1/009 , A61B2034/2048 , A61B2034/2061 , A61B2034/301
摘要： Systems and methods for detecting environmental forces on a flexible elongate instrument include an actuator for inserting and retracting the instrument and a control unit. The control unit is configured to determine a force exerted by the instrument on tissue of a patient. The force is determined based on one or more of a shape of the instrument, a force being exerted by the actuator, or an amount of force being applied at a proximal end of the instrument. In some embodiments the control unit determines the shape using a shape sensor. In some embodiments, the control unit determines the force exerted by the actuator based on a current of the actuator. In some embodiments, the control unit determines the amount of force being applied to the proximal end of the instrument using a force sensor located proximal to the instrument.
-
公开(公告)号：US20220273377A1
公开(公告)日：2022-09-01
申请号：US17733446
申请日：2022-04-29
IPC分类号： A61B34/30 , A61B1/005 , A61B34/35 , A61B34/37 , G02B23/24 , A61B1/00 , A61B34/00 , A61M25/01
摘要： A medical system includes a flexible elongate instrument and a control system. The flexible elongate instrument includes a plurality of wires useable to control articulation of the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument, determine an extent of motion of the flexible elongate instrument based on the monitoring, and determine a mode of operation for the flexible elongate instrument from a plurality of modes of operation based on the monitoring. The plurality of modes of operation includes a retraction mode, an insertion mode, and a parking mode. The control system is further configured to, in response to a change in the mode of operation, alter a rigidity of the flexible elongate instrument with a rate of rigidity change that is based on the extent of motion using one or more of the plurality of wires.
-
3.发明授权公开(公告)号：US10378883B2
公开(公告)日：2019-08-13
申请号：US15572135
申请日：2016-05-12
发明人： Dawn K. Gifford , Federico Barbagli , Samuel Y. Chang , Anoop B. Kowshik , Oliver J. Wagner , Michael D. Paris , Mark E. Froggatt
摘要： An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. When an optical interferometric system is coupled to the optical fiber, it processes reflected light from a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of a force present at the distal region of the instrument.
-
公开(公告)号：US11992188B2
公开(公告)日：2024-05-28
申请号：US18308906
申请日：2023-04-28
CPC分类号： A61B1/0051 , A61B1/005 , A61B1/009 , A61B17/00234 , A61B34/20 , A61B34/76 , A61B2017/0011 , A61B2017/00115 , A61B2017/00296 , A61B2034/2048 , A61B2034/2061 , A61B2034/301 , A61B2090/065 , A61B2562/0261
摘要： A medical system includes a flexible elongate instrument and a control unit. The control unit is configured to determine a force exerted by the flexible elongate instrument on tissue of a patient, determine a driving state of the flexible elongate instrument, set a force threshold based on the driving state, and provide feedback to an operator in response to the determined force being higher than the force threshold. Different driving states are associated with different force thresholds.
-
公开(公告)号：US11672412B2
公开(公告)日：2023-06-13
申请号：US16754939
申请日：2018-10-05
CPC分类号： A61B1/0051 , A61B1/005 , A61B1/009 , A61B17/00234 , A61B34/20 , A61B34/76 , A61B2017/0011 , A61B2017/00115 , A61B2017/00296 , A61B2034/2048 , A61B2034/2061 , A61B2034/301 , A61B2090/065 , A61B2562/0261
摘要： A medical device includes a flexible elongate instrument, an actuator for inserting and retracting the instrument, and a control unit configured to determine at least one of a force being exerted by the actuator or an amount of force applied at a proximal end of the instrument. The control unit is configured to determine a force exerted by the instrument on tissue of a patient based on a shape of the instrument and at least one of the force exerted by the actuator or the force applied at the proximal end. A method of operating a medical device includes: determining a shape of a flexible elongate instrument and at least one of a first force exerted by an actuator or a second force applied to a proximal end; and determining a third force, exerted on tissue, based on the shape and at least one of the first or second forces.
-
公开(公告)号：US20200078096A1
公开(公告)日：2020-03-12
申请号：US16306418
申请日：2017-06-30
发明人： Federico Barbagli , Christopher R. Carlson , Samuel Y. Chang , Nicola Diolaiti , Vincent Duindam , Salomon J. Trujillo
摘要： Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.
-
公开(公告)号：US20240065779A1
公开(公告)日：2024-02-29
申请号：US18491494
申请日：2023-10-20
发明人： Federico Barbagli , Christopher R. Carlson , Samuel Y. Chang , Nicola Diolaiti , Vincent Duindam , Salomon J. Trujillo
CPC分类号： A61B34/20 , A61B17/00234 , A61B34/25 , A61B34/32 , A61B34/35 , A61B2034/2061 , A61B2034/301
摘要： Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.
-
公开(公告)号：US11832891B2
公开(公告)日：2023-12-05
申请号：US16306418
申请日：2017-06-30
发明人： Federico Barbagli , Christopher R. Carlson , Samuel Y. Chang , Nicola Diolaiti , Vincent Duindam , Salomon J. Trujillo
CPC分类号： A61B34/20 , A61B17/00234 , A61B34/25 , A61B34/32 , A61B34/35 , A61B2017/00075 , A61B2017/00119 , A61B2017/00809 , A61B2034/2061 , A61B2034/301 , A61B2034/303 , A61B2560/0276
摘要： A medical robotic system includes a control system and a manipulator assembly including actuators to manipulate a flexible elongate body, including a rotation actuator to bend the flexible elongate body. The control system is configured to perform: determining an operational state of the system; detecting a fault in one or more components of the system; classifying the fault with one or more classifications of a plurality of classifications according to heuristics; and imposing a fault reaction state on the system based on the classifications to mitigate the fault. The control system is configured to impose a first fault reaction state for a motion actuation fault and impose a second fault reaction state for a non-motion actuation fault. The first fault reaction state includes controlling the rotation actuator to cause the elongate body to become compliant to external forces placed upon the elongate body by walls of an anatomical passageway.
-
公开(公告)号：US11344376B2
公开(公告)日：2022-05-31
申请号：US16311514
申请日：2017-06-30
IPC分类号： A61B34/30 , A61B1/005 , A61B34/35 , A61B34/37 , G02B23/24 , A61B1/00 , A61B34/00 , A61M25/01 , A61B34/20 , A61B17/00
摘要： A computer-assisted medical system comprises a flexible elongate instrument. The flexible elongate instrument comprises a plurality of wires extending from a proximal end of the flexible elongate instrument to a distal end of the flexible elongate instrument. Each wire of the plurality of wires may be used to steer the distal end. The system also comprises a control system coupled to the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument along a longitudinal central axis and determine an extent of motion of the flexible elongate instrument in a first direction along the longitudinal central axis based on the monitoring. The control system is also configured to alter a rigidity of the flexible elongate instrument based on a rigidity profile relative to the extent of motion by adjusting one or more forces applied by the plurality of wires to the distal end of the flexible elongate instrument.
-
公开(公告)号：US20190231449A1
公开(公告)日：2019-08-01
申请号：US16311514
申请日：2017-06-30
CPC分类号： A61B34/30 , A61B1/00006 , A61B1/00078 , A61B1/0016 , A61B1/0057 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00336 , A61B2034/2061 , A61B2034/301 , A61B2034/742 , A61M25/0147 , G02B23/2476
摘要： A computer-assisted medical system comprises a flexible elongate instrument. The flexible elongate instrument comprises a plurality of wires extending from a proximal end of the flexible elongate instrument to a distal end of the flexible elongate instrument. Each wire of the plurality of wires may be used to steer the distal end. The system also comprises a control system coupled to the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument along a longitudinal central axis and determine an extent of motion of the flexible elongate instrument in a first direction along the longitudinal central axis based on the monitoring. The control system is also configured to alter a rigidity of the flexible elongate instrument based on a rigidity profile relative to the extent of motion by adjusting one or more forces applied by the plurality of wires to the distal end of the flexible elongate instrument.
-
-
-
-
-
-
-
-
-
搜索结果
10 条记录 (耗时 0.016 秒)
