System and method for instrument disturbance compensation

Abstract

A computer-assisted medical device including a first joint set on an articulated arm, a second joint set on the articulated arm, and a control unit coupled to the first joint set and second joint set. The control unit determines a disturbance to the first joint set caused by a release of one or more brakes and compensates for the disturbance using the second joint set to reduce motion to a position of a point of interest on the articulated arm. In some embodiments, the control unit compensates for the disturbance by determining an initial position for the point of interest with respect to a reference point, determining a predicted motion for the point of interest based on the disturbance to the first joint set, and sending a drive command to the second joint set to move the point of interest in a direction opposite to the predicted motion.

Description

[0001] Related application [0002] The present disclosure requires U.S. Provisional Patent Application No. 62 / 069,245, filed on October 27, 2014, entitled "System and Method for Integrated Operating Table" and in March 2015 The priority of US Provisional Patent Application No. 62 / 134,212 filed on the 17th entitled "System and Method for Reducing Tool Disturbances" is incorporated herein by reference in its entirety. Technical field [0003] The present disclosure relates generally to the operation of devices with articulated arms, and more specifically to reducing external interference with the instrument's posture. Background technique [0004] More and more devices are being replaced with autonomous and semi-autonomous electronic devices. This is especially true in today's hospitals, where there are a large number of autonomous and semi-autonomous electronic devices in operating rooms, interventional suites, intensive care units, emergency rooms, etc. For example, glass thermom...

AI Technical Summary

Problems solved by technology

When the lock and / or brake are released, this may result in an undesired movement of the position and / or orientation of the articulated arm (and more importantly the tip of the instrument and / or end effector positioned within the patient's body)

This undesired movement could result in injury to the patient, injury to persons near the articulating arm and / or end effector, damage to the articulating arm and / or end effector, damage to other equipment near the articulating arm and / or end effector, damage to Bacteria and / or other undesired results

Images