Hand-guided automated positioning device controller

• US 9,914,211 B2
• Filed: 11/25/2014
• Issued: 03/13/2018
• Est. Priority Date: 11/25/2014
• Status: Active Grant

• Current Assignee: Synaptive Medical (Barbados) Inc.
• Original Assignee: Synaptive Medical (Barbados) Inc.
• Inventors: Hynna, Kai, Dyer, Kelly, Piron, Cameron
• Primary Examiner(s): Jen, Ian
• Application Number:
  US14/898,928
• Publication Number:
  US 20170252921A1
• Time in Patent Office: 1,204 Days
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2017/00207 with hand gesture control or hand gesture recognition
• CPC Class Codes: A61B 2017/00973 pedal-operated
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2057 Details of tracking cameras
• CPC Class Codes: A61B 2090/363 Use of fiducial points
• CPC Class Codes: A61B 2090/3735 Optical coherence tomography [OCT]
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/32 operating autonomously
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 42/10 Surgical gloves
• CPC Class Codes: A61B 90/90 Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/98 using electromagnetic means, e.g. transponders
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 9/16 Programme controls programme controls in general G05B19/00, e.g. numerical pogramme controls G05B19/18; recording or playback systems G05B19/42
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor

Abstract

An automated positioning device and associated method for use in a medical procedure is provided. The automated positioning device comprises a computing device having a processor coupled to a memory, a multi-joint positioning arm electrically coupled to the computing device and controlled by the computing device, and a sensor module attached to the multi-joint positioning arm and providing a proximity signal to the computing device indicating proximity of a target. The computing device provides a control signal to the multi-joint positioning arm to move the multi-joint positioning arm in response to the proximity signal.

Claims

1. An automated positioning device for use in a medical procedure, the automated positioning device comprising:

a computing device having a processor coupled to a memory;

a multi-joint positioning arm having a number of linear arm segments connected by joints, the multi-joint positioning arm being electrically coupled to the computing device and controlled by the computing device; and

a plurality of sensor modules each attached to at least one of a different joint and linear arm segment of the multi-joint positioning arm and each providing a proximity signal to the computing device indicating proximity of a respective one of a plurality of targets,

wherein the computing device provides a control signal to the multi-joint positioning arm to move the multi-joint positioning arm in response to the proximity signals and the computing device detects presence of the targets within a threshold distance of the sensor modules and moves the multi-joint positioning arm to follow the targets,

wherein the computing device provides the control signal to move the joints of the multi-joint positioning arm such that when two of the targets approach two of the plurality of sensor modules within the threshold distance and continue to move, the joints or linear arm segments attached to the two of the plurality of sensor modules follow the targets, wherein the targets includes at least one sensor tag.

2. The automated positioning device according to claim 1, wherein following the targets includes avoiding the targets by not contacting the targets.

3. The automated positioning device according to claim 1, wherein the sensor module includes:

a housing for housing components of the sensor module and for attaching to the multi-joint positioning arm;

a processor housed in the housing;

a memory coupled to the processor;

a wireless communication component coupled to the processor for communicating with a wireless communication component of the computing device;

a battery coupled to the processor; and

a sensor coupled to the processor.

4. The automated positioning device according to claim 1, wherein the sensor module includes:

a housing for housing components of the sensor module and for attaching to the multi-joint positioning arm;

a processor housed in the housing;

a memory coupled to the processor; and

a sensor coupled to the processor,

wherein the sensor module is connected to the computing device with a wired connection.

5. The automated positioning device according to claim 1, wherein the at least one sensor tag includes an arm band wearable by a surgeon performing a medical procedure.

6. The automated positioning device according to claim 1, wherein the at least one sensor tag includes a surgical glove wearable by a surgeon performing a medical procedure.

7. The automated positioning device according to claim 1, wherein the sensor module is selected from the group consisting of a radio-frequency identification (RFID) sensor, a body heat sensor, an optical sensor, an accelerometer, a gyroscope and a motion sensor.

8. A method of controlling a multi-joint positioning arm for use in a medical procedure, the multi-joint positioning arm having a number of linear arm segments connected by joints, the multi-joint positioning arm being electrically coupled to a computing device and controlled by the computing device, the multi-joint positioning arm having a plurality of sensor modules each attached to at least one of a different joint and linear arm segment of the multi-joint positioning arm and each providing a proximity signal to the computing device indicating proximity of a respective one of a plurality of targets, the method comprising:

receiving the proximity signals;

detecting presence of the targets within a threshold distance of the sensor modules based on the received proximity signals; and

providing a control signal to the multi-joint positioning arm to move the multi-joint positioning arm to follow the targets in response to the proximity signals by moving the joints of the multi-joint positioning arm such that when two targets approach two of the plurality of sensor modules within the threshold distance, continuing to move the joints and linear arm segments attached to the two of the plurality of sensor modules to follow the targets, wherein the target includes at least one sensor tag.

9. The method according to claim 8, wherein the at least one sensor tag includes an arm band wearable by a surgeon performing a medical procedure.

10. The method according to claim 8, wherein the at least one sensor tag includes a surgical glove wearable by a surgeon performing a medical procedure.

11. The method according to claim 8, wherein the sensor module is selected from the group consisting of a radio-frequency identification (RFID) sensor, a body heat sensor, an optical sensor, and a motion sensor.

12. The method according to claim 8, wherein following the targets includes avoiding the targets by not contacting the targets.