User interface for active drive apparatus with finite range of motion

• US 10,206,746 B2
• Filed: 02/26/2016
• Issued: 02/19/2019
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Walker, Sean Paul, Park, June
• Primary Examiner(s): Vu, Vu A
• Application Number:
  US15/054,870
• Publication Number:
  US 20160175059A1
• Time in Patent Office: 1,089 Days
• Field of Search: 700275
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05B 2219/39439 Joystick, handle, lever controls manipulator directly, manually by operator
• CPC Class Codes: G05B 2219/39541 Place fingers to reorient object while grasping

Abstract

A system may include a controller configured to determine a user interface status, wherein the user interface status includes user interaction of a user interface. The controller may also be configured to determine a drive mechanism location relative to a first limit and a second limit and select a clutching location based on the user interface status and drive mechanism location.

Claims

1. A system comprising:

a drive mechanism;

a controller configured to;

determine a user interface status;

determine a drive mechanism location of a gripper device relative to a first limit and a second limit, wherein the gripper device is configured to drive a medical instrument through a patient'"'"'s anatomy; and

select a clutching location of the gripper device based on the user interface status and the drive mechanism location, and

wherein the user interface status is indicative of user interaction of a user interface and comprises at least one of an active status and an inactive status, and

wherein the inactive status is based on a determination by the controller that user interaction of the user interface has ceased.

2. The system of claim 1, wherein the system is configured to operate as a continuous drive system to a user.

3. The system of claim 1, wherein the drive mechanism is capable of driving a catheter assembly.

4. The system of claim 3, wherein the user interface status is associated with a position of the user interface.

5. The system of claim 4, wherein the clutching location is selected at one of a central location, the first limit, and the second limit in response to a user interface velocity.

6. The system of claim 1, wherein the controller is further configured to transmit an alert to a user interface device during clutching.

7. The system of claim 1, wherein the controller is configured to cause the gripper device to release the medical instrument and then retract and grip the medical device at the clutching location.

8. A method comprising:

determining a user interface status, the user interface status being indicative of a user interaction of a user interface and comprising at least one of an active status and an inactive status, wherein the inactive status is based on a determination that user interaction of the user interface has ceased;

determining a drive mechanism location of a gripper device relative to a first limit and a second limit along a slave device, wherein the gripper device is configured to drive the slave device through a patient'"'"'s anatomy; and

determining whether to clutch the slave device with the griper device based on the user interface status and the drive mechanism location; and

instructing a drive mechanism to clutch based on the user interface status and the drive mechanism location.

9. The method of claim 8, further comprising instructing the drive mechanism to clutch based on the drive mechanism location being at one of the first limit and second limit.

10. The method of claim 8, further comprising instructing the drive mechanism to clutch based on the user interface status being the inactive status.

11. The method of claim 8, wherein the determination that user interaction has ceased comprises a detection of no contact with the user interface.

12. The method of claim 8, wherein the determination that user interaction has ceased comprises a detection of no contact with the user interface for a predetermined amount of time.

13. The method of claim 8, further comprising determining a clutching location of the gripper device based on the user interface status and drive mechanism location.

14. The method of claim 13, further comprising instructing the gripper device to release the slave device and then retract and grip the slaved device at the clutching location.

19. The medium of claim 12, further comprising determining a clutching location of the gripper device based on the user interface status and drive mechanism location.

20. The medium of claim 19, further comprising instructing the gripper device to release the slave device and then retract and grip the slave device at the clutching location.

15. A non-transitory computer readable medium tangibly embodying computer-executable instructions, comprising:

determining a user interface status, the user interface status being indicative of a user interaction of a user interface and comprising at least one of an active status and an inactive status, wherein the inactive status is based on a determination that user interaction of the user interface has ceased;

determining a drive mechanism location of a gripper device relative to a first limit and a second limit along a slave device, wherein the gripper device is configured to drive the slave device through a patient'"'"'s anatomy; and

determining whether to clutch the slave device with the gripper device based on the user interface status and the drive mechanism location; and

instructing a drive mechanism to clutch based on the user interface status and the drive mechanism location.

16. The medium of claim 15, further comprising instructing the drive mechanism to clutch based on the drive mechanism location being at one of the first limit and second limit.

17. The medium of claim 15, further comprising instructing the drive mechanism to clutch based on the user interface status having the inactive status.

18. The medium of claim 15, further comprising transmitting an alert to a user interface device during clutching.