System and method for coordinated motion among heterogeneous devices

• US 10,283,220 B2
• Filed: 08/14/2014
• Issued: 05/07/2019
• Est. Priority Date: 08/16/2013
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Azizian, Mahdi, Sorger, Jonathan M., Dimaio, Simon P.
• Primary Examiner(s): Byrne, Harry W
• Assistant Examiner(s): Begum, Sultana
• Application Number:
  US14/912,083
• Publication Number:
  US 20160203282A1
• Time in Patent Office: 1,727 Days
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G06F 13/37 using a physical-position-dependent priority, e.g. daisy chain, round robin or token passing
• CPC Class Codes: G16H 20/30 relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 40/63 for local operation
• CPC Class Codes: G16H 40/67 for remote operation
• CPC Class Codes: H04L 67/1046 Joining mechanisms

Abstract

A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.

Claims

1. A medical device comprising:

a movable element

wherein the medical device is configured to;

access services through a shared interface, the services comprising a token service and a data service, the shared interface being shared with a second medical device;

request a movement token from the token service;

receive the movement token from the token service;

receive first data from the data service or transmit first data to the data service, the first data being chosen from one or more of configuration data, kinematic data, and planned motion data;

plan a first motion for the movable element based on the first data and a type of the movement token, wherein the type of the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token; and

execute the first motion according to the type of the movement token.

2. The medical device of claim 1 wherein the first motion is only executed while the medical device holds the movement token.

3. The medical device of claim 1 wherein the medical device is further configured to output an alarm when the medical device is unable to execute the first motion consistent with the type of the movement token.

4. The medical device of claim 1 wherein the medical device is further configured to perform one or more of:

register with the shared interface;

monitor the shared interface for an alert generated by the second medical device;

receive an alert when a movable object enters or leaves a defined volume;

request a list that indicates any other medical device coupled to the shared interface and holding a specific type of movement token;

request assignment of another movement token to the second medical device; and

keep the movement token until the medical device receives a request to release the movement token.

5. The medical device of claim 1 wherein the medical device is a device selected from a group consisting of a computer-assisted surgical device, a surgical table, an imaging device, a focal interventional device, and a motion tracking system.

6. The medical device of claim 5 wherein:

the medical device is the motion tracking system; and

the medical device is configured to detect and report a location of an object based on one or more registration points;

create a virtual device corresponding to the object; and

transmit kinematic data for the virtual device through the shared interface.

7. The medical device of claim 1 wherein:

the shared services further comprise a blackboard service;

the type of the movement token is the master follow-me token; and

the medical device is further configured to share the planned first motion for the movable element by using the blackboard service.

8. The medical device of claim 1 wherein:

the shared services further comprise a publisher service;

the type of the movement token is the slave follow-me token; and

the medical device is further configured to;

receive a planned second motion for the second medical device from the publisher service; and

plan the first motion for the movable element that is compliant with the planned second motion.

9. The medical device of claim 1 wherein:

the shared services further comprise a blackboard service;

the type of the movement token is the master collision-avoidance token; and

the medical device is further configured to share the planned first motion for the movable element by using the blackboard service.

10. The medical device of claim 1 wherein:

the shared services further comprise a publisher service;

the type of the movement token is the slave collision-avoidance token; and

the medical device is further configured to;

receive a planned second motion for the second medical device from the publisher service; and

plan the first motion for the movable element to avoid a collision with the second medical device.

11. The medical device of claim 1 wherein:

the type of the movement token is the passive collision-avoidance token; and

the medical device is further configured to periodically transmit second data associated with the medical device, the second data being one or more of a current configuration, kinematics, statics, and dynamics of the medical device.

12. The medical device of claim 1 wherein the movable element includes one or more of an articulated arm, an energy beam, and an energy field.

13. The medical device of claim 1 wherein the medical device is further configured to:

send or receive no-fly data or force data through the shared interface; and

plan the first motion further based on the no-fly data, the force data, or on both the no-fly data and the force data;

wherein the force data includes a data element associated with one or more static or dynamic characteristics selected from a group consisting of force, torque, and pressure.

14. A method of coordinated motion, the method comprising:

accessing, by a first device, a shared interface shared with a second device;

requesting a movement token from a token service through the shared interface;

receiving the movement token from the token service;

receiving or transmitting first data through the shared interface, the first data comprising one or more of configuration data, kinematic data, and planned motion data;

planning a first motion for a movable element based on a type of the movement token and the first data, wherein the type of the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token; and

executing the first motion according to the type of the movement token.

15. The method of claim 14 wherein executing the first motion occurs only while the first device holds the movement token.

16. The method of claim 14, further comprising outputting an alarm when the first motion consistent with the movement token cannot be executed.

17. A coordinated motion system, the system comprising:

a server comprising a shared interface and a plurality of services accessed through the shared interface, the plurality of services comprising a token service, a publisher service, and a blackboard service;

a first heterogeneous device coupled to the shared interface and comprising a first movable element; and

a second heterogeneous device coupled to the shared interface and comprising a second movable element;

wherein the first heterogeneous device is configured to;

request a first movement token from the token service;

receive the first movement token from the token service;

receive first data from the publisher service, the first data comprising one or more of configuration data, kinematic data, and planned motion data for the second movable element;

plan a first motion for the first movable element based on a type of the first movement token and the first data, wherein the type of the first movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token; and

execute the first motion according to the type of the first movement token; and

wherein the second heterogeneous device is configured to;

request a second movement token from the token service, wherein a type of the second movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token;

receive the second movement token from the token service;

transmit the first data to the shared interface using the blackboard service; and

release the second movement token.

18. The system of claim 17 wherein:

the type of the first movement token is the slave follow-me token;

the type of the second movement token is the master follow-me token; and

the first motion moves the first movable element in compliance with the first data.

19. The system of claim 17 wherein:

the type of the first movement token is the slave collision-avoidance token;

the type of the second movement token is the master collision-avoidance token; and

the first motion moves the first movable element to avoid collision with the second movable element.