Relay based tool control
First Claim
1. A method, comprising:
- providing a local medical tool and a lockable joint connecting between the local medical tool and a handle, wherein the handle comprises at least one sensor;
providing a remote medical tool, located remotely from the local medical tool;
sensing a motion of the handle with the at least one sensor; and
applying indications of the sensed motion to generate a corresponding motion for the remote medical tool when the lockable joint is in an unlocked state,wherein the at least one sensor is configured to measure a selected motion of the handle with respect to the lockable joint, and the method comprises receiving an indication of the selected motion, and applying the indication to generate a corresponding motion for one of the remote medical tool and the local medical tool.
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Accused Products
Abstract
Medical apparatus, including a local medical tool and a remote medical tool, located remotely from the local medical tool. The apparatus includes a lockable joint, physically connected to the local medical tool, that is operable in a locked state or in an unlocked state. A handle is physically connected to the lockable joint, so that in the locked state of the joint, movements of the handle are directly transferred to corresponding movements of the local medical tool. The apparatus includes sensors that are configured, in the unlocked state of the joint, to measure motions of the handle with respect to the lockable joint. The apparatus also includes a controller, which in the unlocked state of the joint receives indications of the motions of the handle with respect to the lockable joint, and which is configured to apply the indications to generate corresponding motions for the remote medical tool.
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Citations
20 Claims
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1. A method, comprising:
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providing a local medical tool and a lockable joint connecting between the local medical tool and a handle, wherein the handle comprises at least one sensor; providing a remote medical tool, located remotely from the local medical tool; sensing a motion of the handle with the at least one sensor; and applying indications of the sensed motion to generate a corresponding motion for the remote medical tool when the lockable joint is in an unlocked state, wherein the at least one sensor is configured to measure a selected motion of the handle with respect to the lockable joint, and the method comprises receiving an indication of the selected motion, and applying the indication to generate a corresponding motion for one of the remote medical tool and the local medical tool. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. Medical apparatus, comprising:
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a local medical tool; a remote medical tool, located remotely from the local medical tool; a lockable joint, physically connected to the local medical tool, operable in a locked state or in an unlocked state; a handle, physically connected to the lockable joint, so that in the locked state of the joint, movements of the handle are directly transferred to corresponding movements of the local medical tool; sensors, configured, in the unlocked state of the joint to measure motions of the handle with respect to the lockable joint; and a controller, which in the unlocked state of the joint receives indications of the motions of the handle with respect to the lockable joint, and which is configured to apply the indications to generate corresponding motions for the remote medical tool. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification