System and method of automatic detection and prevention of motor runaway
1 Assignment
0 Petitions
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.
11 Citations
40 Claims
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1-20. -20. (canceled)
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21. 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 while at least one of said actuation units is moving according to actuation control signals so as to manipulate the medical device in accord with a user input indicative of a desired movement of the medical device, said diagnostic module being configured to detect when a predetermined fault condition associated with at least one of said actuation units occurs, said diagnostic module being further configured to output a fault notification associated with said fault condition. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. 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 and in accord with a user input indicative of a desired movement of the medical device; said diagnostic module being configured to monitor operation of said actuation units while at least one of said actuation units is moving according to said actuation control signal, said diagnostic module being configured to detect when a predetermined fault condition occurs, said diagnostic module being further configured to output a fault notification associated with said predetermined fault condition. - View Dependent Claims (33, 34, 35, 36, 37, 38)
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39. A method of operating a robotic control and guidance system configured to manipulate a medical device, comprising:
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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 in accord with a user input indicative of a desired movement of the medical device; (C) monitoring the operation of the actuation units while at least one of the actuation units is moving in response to the actuation control signals to detect a predetermined fault condition; and (D) outputting, when a predetermined fault condition associated with the actuation control units is detected, a fault notification associated with the detected predetermined fault condition. - View Dependent Claims (40)
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Specification