Device for assisting with the handling of an instrument or tool
First Claim
1. A device for assisting with the handling of a tool or instrument, the device comprising:
- a jointed mechanical structure on which the tool or instrument is attached;
a plurality of motor drives configured to actuate the jointed mechanical structure according to a number of degrees of freedom less than the total number of degrees of freedom of the jointed mechanical structure; and
a controller configured to drive the plurality of motor drives, individually or in combination, in order to meet a constraint on at least one parameter of the tool or instrument that cannot be met independently of the tool or instrument being physically handled by an operator,wherein the at least one parameter of the tool or instrument corresponds to a number of degrees of freedom greater than the number of degrees of freedom on which the plurality of motor drives act, andwherein the controller is configured to transmit a force to the tool or instrument in order to indicate to the operator physically handling the tool or instrument how to move the tool or instrument in order to meet the constraint on the at least one parameter of the tool or instrument.
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Accused Products
Abstract
A device for assisting with the handling of an instrument or tool, the device comprising a jointed mechanical structure on a support, wherein an instrument or tool may be attached, motor drives configured to actuate the jointed mechanical structure, according to a number of degrees of freedom of less than that which the structure provides to the instrument or tool, and an automatic control, wherein the automatic control drives the motor drives in order to facilitate the meeting of a constraint on position and/or velocity parameters of the instrument or tool, which constraint the motor drives by themselves, independently of handling by an operator, cannot entirely meet.
26 Citations
20 Claims
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1. A device for assisting with the handling of a tool or instrument, the device comprising:
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a jointed mechanical structure on which the tool or instrument is attached; a plurality of motor drives configured to actuate the jointed mechanical structure according to a number of degrees of freedom less than the total number of degrees of freedom of the jointed mechanical structure; and a controller configured to drive the plurality of motor drives, individually or in combination, in order to meet a constraint on at least one parameter of the tool or instrument that cannot be met independently of the tool or instrument being physically handled by an operator, wherein the at least one parameter of the tool or instrument corresponds to a number of degrees of freedom greater than the number of degrees of freedom on which the plurality of motor drives act, and wherein the controller is configured to transmit a force to the tool or instrument in order to indicate to the operator physically handling the tool or instrument how to move the tool or instrument in order to meet the constraint on the at least one parameter of the tool or instrument. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An imaging assembly comprising:
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a mammographic imaging device comprising a source of x-rays, a detector, and a compression paddle; and a device for assisting with the handling of a tool or instrument, the device comprising; a jointed mechanical structure on which the tool or instrument is attached; a plurality of motor drives configured to actuate the jointed mechanical structure according to a number of degrees of freedom less than the total number of degrees of freedom of the jointed mechanical structure; and a controller configured to drive the plurality of motor drives, individually or in combination, in order to meet a constraint on at least one parameter of the tool or instrument that cannot be met independently of the tool or instrument being physically handled by an operator, wherein the at least one parameter of the tool or instrument corresponds to a number of degrees of freedom greater than the number of degrees of freedom on which the plurality of motor drives act, and wherein the controller is configured to transmit a force to the tool or instrument in order to indicate to the operator physically handling the tool or instrument how to move the tool or instrument in order to meet the constraint on the at least one parameter of the tool or instrument. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification