SYSTEM AND METHOD OF AUTOMATIC DETECTION AND PREVENTION OF MOTOR RUNAWAY
First Claim
1. An apparatus for use in a robotic control system configured to manipulate a medical device, comprising:
- an electronic control unit (ECU) and a memory coupled to said ECU; and
logic stored in said memory configured to be executed by said ECU, said logic including a diagnostic module;
said diagnostic module being configured to monitor operation of a plurality of electrically-operated actuation units of the robotic control system that are operative to manipulate the medical device and detect when a predetermined fault condition associated with at least one of said actuation units occurs, said diagnostic module being further configured to abate said fault condition.
1 Assignment
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Accused Products
Abstract
A robotic catheter control system includes a plurality of electric motors. Diagnostic logic automatically detects motor runaway fault conditions based on the current motor position, the target motor position and a predetermined tolerance parameter. Fault conditions include overshoot, movement in the a non-prescribed direction, exceeding a prescribed maximum motor speed and exceeding a prescribed maximum motor acceleration. The diagnostic logic terminates operating power to the electric motor when a fault condition is detected for any one of the motor. An error message is generated to notify the operator of the fault.
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Citations
20 Claims
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1. An apparatus for use in a robotic control system configured to manipulate a medical device, comprising:
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an electronic control unit (ECU) and a memory coupled to said ECU; and logic stored in said memory configured to be executed by said ECU, said logic including a diagnostic module; said diagnostic module being configured to monitor operation of a plurality of electrically-operated actuation units of the robotic control system that are operative to manipulate the medical device and detect when a predetermined fault condition associated with at least one of said actuation units occurs, said diagnostic module being further configured to abate said fault condition. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A robotic control and guidance system for manipulating a medical device, comprising:
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an electronic control unit (ECU), a memory coupled to said ECU, and logic stored in said memory configured to be executed by said ECU, said logic including an operating module and a diagnostic module; a manipulator assembly including a plurality of electrically-operated actuation units configured to actuate one or more control members of the medical device in response to a plurality of actuation control signals; said operating module being configured to produce said actuation control signals so as to manipulate the medical device in accordance with a predetermined operating strategy; said diagnostic module being configured to monitor operation of said actuation units and detect when a predetermined fault condition occurs, said diagnostic module being further configured to abate said fault condition. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method of operating a robotic control and guidance system configured to manipulate a medical device, comprising the steps of:
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(A) determining, using an electronic control unit (ECU), actuation control signals in accordance with a predetermined operating strategy; (B) operating a plurality of electrically-operated actuation units based on the actuation control signals so as to actuate one or more control members of the medical device, thereby manipulating the medical device; (C) monitoring the operation of the actuation units to detect a predetermined fault condition; and (D) terminating operating power to the actuation units when a fault condition has been detected. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification