ROBOTICALLY CONTROLLED CATHETER AND METHOD OF ITS CALIBRATION
First Claim
1. A method of calibrating a robotic device capable of movement relative to at least one actuation axis, the method comprising:
- oscillating the robotic device on a first actuation axis by applying a first oscillation vector at a first oscillation frequency;
while oscillating the robotic device on the first actuation axis, periodically measuring a location of the robotic device, thereby generating a first plurality of location data points measured as a function of time;
processing the first plurality of location data points using a Fourier transform algorithm to isolate a displacement of the robotic device attributable to application of the first oscillation vector; and
resolving an output of the processing step into a calibration vector for the first actuation axis.
1 Assignment
0 Petitions
Accused Products
Abstract
A method of calibrating a robotic device, such as a cardiac catheter, includes oscillating the device on an actuation axis by applying an oscillation vector at an oscillation frequency. While oscillating, a location of the device is periodically measured to generate a plurality of location data points, which may express the location of the device relative to a plurality of measurement axes. The location data points are then processed using a signal processing algorithm, such as a Fourier transform algorithm, to derive a transfer function relating a position of the device to a movement vector for the actuation axis. The transfer function may be resolved into and expressed as a calibration vector for the actuation axis, which may include one or more components, including zero components, directed along each of the measurement axes. The process may be repeated for any actuation axes on which calibration is desired.
-
Citations
42 Claims
-
1. A method of calibrating a robotic device capable of movement relative to at least one actuation axis, the method comprising:
-
oscillating the robotic device on a first actuation axis by applying a first oscillation vector at a first oscillation frequency;
while oscillating the robotic device on the first actuation axis, periodically measuring a location of the robotic device, thereby generating a first plurality of location data points measured as a function of time;
processing the first plurality of location data points using a Fourier transform algorithm to isolate a displacement of the robotic device attributable to application of the first oscillation vector; and
resolving an output of the processing step into a calibration vector for the first actuation axis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
-
-
20. A method of calibrating a robotically controlled catheter capable of movement relative to at least one actuation axis, the method comprising:
-
mechanically actuating the catheter on a first actuation axis by applying a first oscillation vector at a first oscillation frequency;
periodically measuring a location of the catheter, thereby generating a first plurality of location data points measured as a function of time;
processing the first plurality of location data points using a Fourier transform algorithm to distinguish mechanical actuation of the catheter from at least one of patient motion, cardiac motion, respiration, and electronic noise; and
resolving an output of the processing step into a calibration vector for the first actuation axis. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28)
-
-
29. A method of calibrating a robotically controlled catheter, the method comprising:
-
oscillating the catheter on an actuation axis by applying an oscillation vector at an oscillation frequency;
periodically measuring a location of a point on the catheter, thereby generating a plurality of location data points measured as a function of time;
applying a signal processing algorithm to the plurality of location data points to isolate a displacement of the catheter attributable to application of the oscillation vector; and
resolving an output of the signal processing algorithm into a calibration vector for the actuation axis. - View Dependent Claims (30, 31, 32, 33, 34, 35)
-
-
36. A robotically controlled medical device, comprising:
-
an end-effector configured to perform a medical procedure;
an actuator for moving said end-effector;
a controller for mechanically actuating said end-effector by energizing said actuator to apply an oscillation vector on an actuation axis to said end-effector;
a positional feedback system for periodically measuring a location of said end-effector, thereby creating a plurality of location data points measured as a function of time; and
a processor for processing said plurality of location data points according to a Fourier transform algorithm to generate a transfer function relating a position of said end-effector to a movement vector for said actuation axis. - View Dependent Claims (37, 38, 39, 40)
-
-
41. A method of calibrating a robotically controlled catheter capable of movement relative to at least one actuation axis, the method comprising:
-
mechanically actuating the catheter on a first actuation axis by applying a first oscillation vector at a first oscillation frequency;
periodically measuring a location of the catheter to generate a first plurality of location data points measured as a function of time; and
processing the first plurality of location data points using a Fourier transform algorithm to generate a transfer function that relates a position of the robotically controlled catheter to a movement vector for the first actuation axis. - View Dependent Claims (42)
-
Specification