Robotically controlled catheter and method of its calibration
First Claim
1. A method of calibrating a robotic surgical system including a medical device and at least one servo mechanism operable to move the medical device, comprising:
- energizing the at least one servo mechanism to apply a first oscillation vector to the medical device;
while applying the first oscillation vector to the medical device, periodically measuring a location of at least one point on the medical device, thereby generating a first position signal for the medical device;
processing the first position signal to generate a first output signal, wherein the first output signal reflects movement of the medical device attributable to the application of the first oscillation vector to the medical device by the at least one servo mechanism; and
using the first output signal to generate a first transfer function that relates inputs to the at least one servo mechanism to resulting movements of the medical device.
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Accused Products
Abstract
A method of calibrating a robotic device, such as a cardiac catheter, includes oscillating the device on an actuation axis by applying an oscillation vector at an oscillation frequency. While oscillating, a location of the device is periodically measured to generate a plurality of location data points, which may express the location of the device relative to a plurality of measurement axes. The location data points are then processed using a signal processing algorithm, such as a Fourier transform algorithm, to derive a transfer function relating a position of the device to a movement vector for the actuation axis. The transfer function may be resolved into and expressed as a calibration vector for the actuation axis, which may include one or more components, including zero components, directed along each of the measurement axes. The process may be repeated for any actuation axes on which calibration is desired.
235 Citations
18 Claims
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1. A method of calibrating a robotic surgical system including a medical device and at least one servo mechanism operable to move the medical device, comprising:
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energizing the at least one servo mechanism to apply a first oscillation vector to the medical device; while applying the first oscillation vector to the medical device, periodically measuring a location of at least one point on the medical device, thereby generating a first position signal for the medical device; processing the first position signal to generate a first output signal, wherein the first output signal reflects movement of the medical device attributable to the application of the first oscillation vector to the medical device by the at least one servo mechanism; and using the first output signal to generate a first transfer function that relates inputs to the at least one servo mechanism to resulting movements of the medical device. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A robotic surgical system, comprising:
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a medical device; at least one servo mechanism coupled to the medical device such that the at least one servo mechanism can actuate the medical device; a controller operable to energize the at least one servo mechanism to actuate the medical device to oscillate on a first axis; a positional feedback system to periodically measure a location of at least one point on the medical device as the medical device oscillates on the first axis, thereby generating a first position signal for the medical device; a processor to process the first position signal into a transfer function that relates inputs by the at least one servo mechanism to movements of the medical device. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A non-transitory computer readable medium having stored thereon computer executable instructions that, if executed by a computing device in communication with at least one servo mechanism, cause the computing device to perform a method comprising:
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energizing the at least one servo mechanism to apply a first oscillation vector to a device coupled thereto; while applying the first oscillation vector to the device, periodically measuring a location of at least one point on the medical device, thereby generating a first position signal for the device; processing the first position signal to generate a first output signal, wherein the first output signal reflects movement of the device attributable to the application of the first oscillation vector to the device by the at least one servo mechanism; and using the first output signal to generate a first transfer function that relates inputs to the at least one servo mechanism to resulting movements of the device. - View Dependent Claims (16, 17, 18)
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Specification