RESTORING INSTRUMENT CONTROL INPUT POSITION/ORIENTATION DURING MIDPROCEDURE RESTART
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Accused Products
Abstract
A robotic system comprises a robotic assembly comprising a drive mechanism, a sensor assembly, and a controller communicatively coupled to the sensor assembly. The controller has at least one processor configured to execute a method. The method comprises recording a position of the drive mechanism to non-volatile memory during use of the robotic assembly and receiving a request to initiate a mid-procedure restart of the robotic assembly after a mid-procedure shut-down of the robotic assembly. The method also comprises determining whether a post-shutdown position of the drive mechanism is within an accepted tolerance with respect to a pre-shutdown position of the drive mechanism and preventing further use of the robotic assembly in response to a determination that the post-shutdown position of the drive mechanism is not within the accepted tolerance with respect to the pre-shutdown position of the drive mechanism.
54 Citations
38 Claims
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1-18. -18. (canceled)
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19. A robotic system comprising:
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a robotic assembly comprising a drive mechanism; a sensor assembly; and a controller communicatively coupled to the sensor assembly, the controller having at least one processor configured to execute a method comprising; recording a position of the drive mechanism to non-volatile memory during use of the robotic assembly; receiving a request to initiate a mid-procedure restart of the robotic assembly after a mid-procedure shut-down of the robotic assembly; determining whether a post-shutdown position of the drive mechanism is within an accepted tolerance with respect to a pre-shutdown position of the drive mechanism; and preventing further use of the robotic assembly in response to a determination that the post-shutdown position of the drive mechanism is not within the accepted tolerance with respect to the pre-shutdown position of the drive mechanism. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27)
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28. A method comprising:
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recording to non-volatile memory a position of a drive mechanism for a robotic assembly, the robotic assembly including an instrument and a motor operable to drive the drive mechanism; receiving a request to initiate a mid-procedure restart of the robotic assembly after a mid-procedure shut-down of the robotic assembly; determining whether a post-shutdown position of the drive mechanism is within an accepted tolerance with respect to a pre-shutdown position of the drive mechanism; and preventing further use of the robotic assembly in response to a determination that the post-shutdown position of the drive mechanism is not within the accepted tolerance with respect to the pre-shutdown position of the drive mechanism. - View Dependent Claims (29, 30, 31, 32, 33)
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34. A computer program product comprising:
a non-transitory machine readable medium having program code embodied therewith, the program code executable by a processor to; record to non-volatile memory a position of a drive mechanism for a robotic assembly, the robotic assembly including an instrument and a motor operable to drive the drive mechanism; receive a request to initiate a mid-procedure restart of the robotic assembly after a mid-procedure shut-down of the robotic assembly; determine whether a post-shutdown position of the drive mechanism is within an accepted tolerance with respect to a pre-shutdown position of the drive mechanism; and prevent further use of the robotic assembly in response to a determination that the post-shutdown position of the drive mechanism is not within the accepted tolerance with respect to the pre-shutdown position of the drive mechanism. - View Dependent Claims (35, 36, 37, 38)
Specification