SYSTEM WITH EMULATOR MOVEMENT TRACKING FOR CONTROLLING MEDICAL DEVICES
First Claim
1. A system, comprising:
- an emulator configured to be held and operated in a free working space (FWS), the emulator representing a medical device at a target site;
at least one detector configured to track the emulator within the FWS;
at least one computer-readable memory having stored thereon executable instructions; and
at least one processor in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to;
determine an alignment offset between a location of the emulator and a location of the medical device;
during a medical procedure, determine a first movement amount based on a signal from the at least one detector indicative of a first movement of the emulator within the FWS;
adjust the first movement amount by a first adjustment value; and
generate instructions to move the medical device based on the adjusted first movement amount, wherein the movement of the medical device by the adjusted first movement amount reduces the alignment offset between the location of the emulator and the location of the medical device.
3 Assignments
0 Petitions
Accused Products
Abstract
The systems and methods disclosed herein are directed to robotically controlling a medical device to utilize manual skills and techniques developed by surgeons. The system may comprise an emulator representing a medical device. The system may comprise at least one detector configured to track the emulator. The system may further comprise an imaging device configured to track the medical device. The system may be configured to move the medical device to reduce an alignment offset between the location of the emulator and the location of the medical device, to move the imaging device based on the translational movement of the emulator, and/or to move the medical device based on data indicative of an orientation of the emulator.
277 Citations
17 Claims
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1. A system, comprising:
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an emulator configured to be held and operated in a free working space (FWS), the emulator representing a medical device at a target site; at least one detector configured to track the emulator within the FWS; at least one computer-readable memory having stored thereon executable instructions; and at least one processor in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to; determine an alignment offset between a location of the emulator and a location of the medical device; during a medical procedure, determine a first movement amount based on a signal from the at least one detector indicative of a first movement of the emulator within the FWS; adjust the first movement amount by a first adjustment value; and generate instructions to move the medical device based on the adjusted first movement amount, wherein the movement of the medical device by the adjusted first movement amount reduces the alignment offset between the location of the emulator and the location of the medical device. - View Dependent Claims (2, 3)
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4. A system, comprising:
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an emulator configured to be held and operated in a free working space (FWS), the emulator representing a medical device at a target site; at least one detector configured to track the emulator within the FWS; an imaging device configured to track the medical device at the target site; at least one computer-readable memory having stored thereon executable instructions; and at least one processor in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to; receive a signal from the at least one detector indicative of a translational movement of the emulator within the FWS; and generate instructions, based on the translational movement of the emulator, to move the imaging device within a plane defined by pitch and yaw axes of the imaging device. - View Dependent Claims (5, 6, 7)
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8. A system, comprising:
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an emulator representing a medical device at a target site; a first set of one or more detectors configured to track the emulator; a second set of one or more detectors configured to track the medical device at the target site; at least one computer-readable memory having stored thereon executable instructions; and at least one processor in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to; receive, from the first set of one or more detectors, first data indicative of at least an orientation of the emulator, the first data comprising roll data, pitch data, and yaw data of the emulator; generate, based on a clutched user input, instructions to move the medical device based on the first data discounting the roll data of the emulator; and cause the medical device to move based on the instructions. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15, 16, 17)
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Specification