System and method for controlling a remote medical device guidance system in three-dimensions using gestures
First Claim
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1. A system for enabling a user to remotely control a robotic medical device system, comprising:
- a motion capture apparatus configured to capture motion of a user in a sensing volume and generate output data indicative of the captured user motion, wherein said output data includes fiducial point tracking data, and wherein said fiducial point tracking data is associated with a plurality of fiducial points defined with respect to the user, and wherein said fiducial point tracking data includes, for each fiducial point, a respective position, and wherein each position includes a respective three-dimensional coordinate in a reference coordinate system, and wherein said fiducial point tracking data further includes, for each fiducial point, a respective time-based plurality of positions;
an electronic control unit including a processor and a memory;
gesture recognition logic stored in said memory and configured to execute on said processor, said gesture recognition logic being configured to recognize a user gesture based on said output data from said motion capture apparatus; and
interpreter logic stored in said memory and configured to execute on said processor, said interpreter logic being configured to translate the user gesture to a corresponding robotic medical device control command wherein said command is configured to control an aspect of the operation of the robotic medical device system, said electronic control unit being configured to communicate said command to the robotic medical device system, and wherein said gesture recognition logic is configured to;
identify a start pose based on said fiducial point tracking data;
record the motion of a predetermined plurality of fiducial points after the start pose until an end pose is identified based on said fiducial point tracking data;
compare said recorded motion of the predetermined plurality of fiducial points with a plurality of predefined gestures; and
output the user gesture when said recorded motion matches one of the plurality of gestures.
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Abstract
A system for enabling a user to remotely control a robotic medical device system includes a motion capture apparatus to capture motion of a user in a sensing volume and generate indicative output data. The system includes a control unit configured to execute gesture recognition logic that recognizes a user gesture based on analysis of the indicative output data. The control unit executes interpreter logic that is configured to translate the recognized user gesture into a corresponding robotic medical device control command configured to control an aspect of the operation of the robotic medical device system.
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Citations
17 Claims
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1. A system for enabling a user to remotely control a robotic medical device system, comprising:
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a motion capture apparatus configured to capture motion of a user in a sensing volume and generate output data indicative of the captured user motion, wherein said output data includes fiducial point tracking data, and wherein said fiducial point tracking data is associated with a plurality of fiducial points defined with respect to the user, and wherein said fiducial point tracking data includes, for each fiducial point, a respective position, and wherein each position includes a respective three-dimensional coordinate in a reference coordinate system, and wherein said fiducial point tracking data further includes, for each fiducial point, a respective time-based plurality of positions; an electronic control unit including a processor and a memory; gesture recognition logic stored in said memory and configured to execute on said processor, said gesture recognition logic being configured to recognize a user gesture based on said output data from said motion capture apparatus; and interpreter logic stored in said memory and configured to execute on said processor, said interpreter logic being configured to translate the user gesture to a corresponding robotic medical device control command wherein said command is configured to control an aspect of the operation of the robotic medical device system, said electronic control unit being configured to communicate said command to the robotic medical device system, and wherein said gesture recognition logic is configured to; identify a start pose based on said fiducial point tracking data; record the motion of a predetermined plurality of fiducial points after the start pose until an end pose is identified based on said fiducial point tracking data; compare said recorded motion of the predetermined plurality of fiducial points with a plurality of predefined gestures; and output the user gesture when said recorded motion matches one of the plurality of gestures. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for enabling a user to remotely control a robotic medical device system, comprising:
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a motion capture apparatus configured to capture motion of a user in a sensing volume and generate output data indicative of the captured user motion, wherein said output data includes fiducial point tracking data, and wherein said fiducial point tracking data is associated with a plurality of fiducial points defined with respect to the user, and wherein said fiducial point tracking data includes, for each fiducial point, a respective position; an electronic control unit including a processor and a memory; gesture recognition logic stored in said memory and configured to execute on said processor, said gesture recognition logic being configured to recognize a user gesture based on said output data from said motion capture apparatus; and interpreter logic stored in said memory and configured to execute on said processor, said interpreter logic being configured to translate the user gesture to a corresponding robotic medical device control command wherein said command is configured to control an aspect of the operation of the robotic medical device system, said electronic control unit being configured to communicate said command to the robotic medical device system, wherein a characteristic associated said robot medical device control command is a commanded magnitude associated with an action involving one of a catheter and a sheath under control of the robotic medical device system, and wherein the commanded magnitude corresponds to a distance between preselected fiducial points. - View Dependent Claims (10, 11)
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12. A system for enabling a user to remotely control a robotic medical device system, comprising:
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a motion capture apparatus configured to capture motion of a user in a sensing volume and generate output data indicative of the captured user motion, wherein said output data includes fiducial point tracking data, wherein said fiducial point tracking data is associated with a plurality of fiducial points defined with respect to the user, and wherein said fiducial point tracking data includes, for each fiducial point, a respective position; an electronic control unit including a processor and a memory; gesture recognition logic stored in said memory and configured to execute on said processor, said gesture recognition logic being configured to recognize a user gesture based on said output data from said motion capture apparatus; and interpreter logic stored in said memory and configured to execute on said processor, said interpreter logic being configured to translate the user gesture to a corresponding robotic medical device control command wherein said command is configured to control an aspect of the operation of the robotic medical device system, said electronic control unit being configured to communicate said command to the robotic medical device system; wherein a characteristic associated with the robot medical device control command is a commanded rotation associated with an action involving one of a catheter and a sheath under control of the robotic medical device system, and wherein the commanded rotation corresponds to a rotation angle through which a preselected fiducial point is rotated during the user gesture. - View Dependent Claims (13)
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14. A system for enabling a user to remotely control a robotic medical device system, comprising:
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a motion capture apparatus configured to capture motion of a user in a sensing volume and generate output data indicative of the captured user motion; an electronic control unit including a processor and a memory; gesture recognition logic stored in said memory and configured to execute on said processor, said gesture recognition logic being configured to recognize a user gesture based on said output data from said motion capture apparatus; and interpreter logic stored in said memory and configured to execute said processor, said interpreter logic being configured to translate the user gesture to a corresponding robotic medical device control command wherein said command is configured to control an aspect of the operation of the robotic medical device system, said electronic control unit being configured to communicate said command to the robotic medical device system, wherein said interpreter logic is further configured to selectively translate, based on a state of context switch parameter, the user gesture into one of (i) the robotic medical device control command configured to control an aspect of the operation of the robotic medical device system and (ii) a mapping control command configured to control an aspect of an electro-anatomic mapping system, and wherein said interpreter logic is further configured to generate said robotic medical device control command with respect to the visible orientation of the then-visible view of an anatomical model of at least a portion of a body of a patient produced by the electro-anatomic mapping system. - View Dependent Claims (15)
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16. A system for enabling a user to remotely control a robotic medical device system, comprising:
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motion capture means for capturing motion of a user in a sensing volume and generating output data indicative of the captured user motion; gesture recognition means for recognizing a user gesture based on said output data from said motion capture means; interpreter means for translating the user gesture to a corresponding robotic medical device control command wherein said command is configured to control an aspect of the operation of the robotic medical device system; and communication means for communicating said command to the robotic medical device system, and wherein said output data includes fiducial point tracking data associated with a plurality of fiducial points defined with respect to the user, and wherein said fiducial point tracking data includes, for each fiducial point, a respective position, wherein each position includes a respective three-dimensional coordinate in a reference coordinate system, and wherein said fiducial point tracking data further includes, for each fiducial point, a respective time-based plurality of positions, and wherein said gesture recognition means is further configured for; identifying a start pose based on said fiducial point tracking data; recording the motion of a predetermined plurality of fiducial points after the start pose until an end pose is identified based on said fiducial point tracking data; comparing said recorded motion of the predetermined plurality of fiducial points with a plurality of predefined gestures; and outputting the user gesture when said recorded motion matches one of the plurality of gestures. - View Dependent Claims (17)
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Specification