PROGRAMMABLE BRAKE CONTROL SYSTEM FOR USE IN A MEDICAL DEVICE
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Abstract
A system and method for providing programmable brake control in a fly-by-wire medical instrument system are provided. In one embodiment, the invention provides a brake control system that includes a brake control algorithm that provides temporal and spatial control of the motion of a medical instrument.
114 Citations
24 Claims
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1-13. -13. (canceled)
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14. A control system for controlling an medical device having a shaft with a distal end, a proximal end, and one or more control cables secured at or adjacent the distal end of the shaft to selectively orient the distal end upon tension of one or more of the control cables, comprising:
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user input device with which a user enters commands to orient the distal end of the medical device;
a motion processor that produces position commands in response to user inputs to the user input device;
one or more motors that selectively tension the one or more control cables to orient the distal end of the medical device in the up/down and left/right directions; and
a programmable brake control that filters the position commands produced by the motion processor with one of a number of selectable braking functions that modify the position commands produced by the motion processor to control the forces applied by the one or more motors such that the up/down and left/right response of the distal end of the shaft is independently controllable in response to the same user entered command to the input device. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification