Systems and methods for providing an indication of sterility

Abstract

Systems and methods for providing a sterility status for a computer-assisted guided robotic system are described. The method can include: (i) obtaining kinematic data indicative of a position of two or more links relative to a sterility boundary; (ii) determining, based on the kinematic data, a sterility status associated with the two or more links; and (iii) configuring a respective indicator system of the two or more links to provide an indication of the sterility status of the two or more links.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and filing date benefit to U.S. Provisional Patent Application No. 63 / 571,090, filed March 28, 2024, entitled “SYSTEMS AND METHODS FOR PROVIDINGA STERILITY INDICIATOR”. The entire contents of that provisional application are expressly incorporated herein by reference. Technical Field

[0003] The disclosed examples relate to guided robot control manipulator systems. In particular, the disclosed examples relate to systems and methods for determining the sterility of individual components of a manipulator system and further providing indications of the sterility of the individual components of the manipulator system. Background Technology

[0004] A computer-aided manipulator system (“manipulator system”) – sometimes referred to as a robot-assisted system or a robotic system – may include one or more manipulators that can be operated with the assistance of an electronic controller (e.g., a computer) to move one or more instruments coupled to the manipulators and to control the functions of said instruments. Manipulators typically include mechanical links connected by joints. Instruments are removably (or permanently) coupled to one of the links, typically the distal link of a plurality of links.

[0005] In some computer-aided manipulator systems, the manipulator is attached to a manipulator support structure (e.g., a patient-side trolley), which is separate from the support structure that supports the patient or workpiece. In other manipulator systems, the manipulator is directly attached to the support structure that supports the patient or workpiece (referred to herein as a "table assembly"), such as to an operating table. Manipulator systems in which the manipulator is mounted to a table assembly may be referred to herein as table-mounted manipulator systems.

[0006] A crucial aspect of utilizing computer-aided manipulator systems, particularly in medical procedures, is monitoring the sterility of the various components of the manipulator system. Typically, during system setup in an environment such as an operating room (OR), the robotic manipulator system is covered with a sterile drape. The system is then positioned relative to a sterile operating area (e.g., an operating table or bed). Once positioned in the OR, portions of the system may reside in non-sterile areas or regions of the OR, such as areas near the floor, under the operating table, etc. Furthermore, during operation, portions or components of the manipulator system may move into non-sterile areas or come into contact with non-sterile objects, including individuals.

[0007] In many processes, the operator or assistant is responsible for manually locating or repositioning parts of the manipulator system during operation. Therefore, it is important for the operator to know which parts of the manipulator system are sterile and safe to touch, and which parts are non-sterile and unsafe to touch or grasp. Touching and manipulating non-sterile parts of the manipulator system increases the risk of violating OR aseptic protocols, leading to delays or other inefficiencies in process execution.

[0008] Therefore, there is a need for improved manipulator systems with indicator systems that facilitate monitoring of aseptic status. Summary of the Invention

[0009] The following presents a brief overview of the various examples described herein and is not intended to identify key or important elements or to depict the scope of the claims.

[0010] In some examples, a computer-aided system for indicating a sterility state is provided. The system may include: (i) a repositionable structure configured to support an instrument; (ii) the repositionable structure including two or more links coupled via one or more joints, wherein each of the two or more links includes a corresponding indicating system; and (iii) a control system operatively coupled to the repositionable structure. The control system is configured to: (1) acquire kinematic data indicating the position of at least one of the two or more links relative to a sterility boundary; (2) determine a sterility state associated with the two or more links based on the kinematic data; and (3) configure the corresponding indicating systems of the two or more links to provide an indication of the sterility state of the corresponding link among the two or more links.

[0011] In another example, a method for providing a sterility state for a computer-aided system is provided, the computer-aided system indicating a sterility state. The computer-aided system may include: (i) a repositionable structure having two or more links coupled via one or more joints, wherein each of the two or more links includes a corresponding indicating system; and (ii) a control system operatively coupled to the repositionable structure. The method includes: (1) obtaining kinematic data indicating the position of the two or more links relative to a sterility boundary; (2) determining a sterility state associated with the two or more links based on the kinematic data; and (3) configuring the corresponding indicating systems of the two or more links to provide an indication of the sterility state of the two or more links.

[0012] In yet another example, a non-transitory computer-readable medium storing instructions is provided. When executed by one or more processors, the instructions cause the processors to: (i) obtain kinematic data indicating the position of each of at least two or more links relative to a sterility boundary; (ii) determine a sterility state associated with the two or more links based on the kinematic data; and (iii) configure a corresponding indication system for the two or more links to provide an indication of the sterility state of the respective link among the two or more links.

[0013] It should be understood that both the foregoing general description and the following detailed description are exemplary and illustrative in nature and are intended to provide an understanding of this disclosure without limiting its scope. In this regard, additional aspects, features, and advantages of this disclosure will be apparent to those skilled in the art from the following detailed description. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a robot-assisted manipulator system for providing a sterile state, based on some examples.

[0015] Figure 2A This is a perspective view of a desktop robot-assisted manipulator system for providing a sterile state, based on some examples.

[0016] Figure 2B It is based on some examples Figure 2A Alternative perspective view of the manipulator system used to provide a sterile state.

[0017] Figure 2C It is based on some examples Figure 2A A side view of a manipulator system used to provide a sterile state, with indications of sterile boundaries.

[0018] Figure 3 yes Figure 2A A perspective view of an embodiment of the controller system, which has a status indicator arranged in a strip.

[0019] Figure 4 yes Figure 2A A perspective view of an embodiment of the manipulator system, which has a status indicator arranged in a circle.

[0020] Figure 5 It is a side view of the manipulator, in which status indicators are arranged in strips along one or more sides of one or more links.

[0021] Figure 6 It is a sample flowchart based on some example methods.

[0022] Examples of this disclosure and its advantages can be better understood by referring to the following detailed description. It should be understood that the same reference numerals are used to identify the same elements shown in one or more of the accompanying drawings, which are shown for illustrative purposes and not for limiting the scope of this disclosure. Detailed Implementation

[0023] In the following description, specific details are set forth in relation to some examples conforming to this disclosure. Numerous specific details are set forth to provide a thorough understanding of the examples. However, it will be apparent to those skilled in the art that some examples can be practiced without some or all of these specific details. The specific examples disclosed herein are intended to be exemplary and not restrictive. Other elements within the scope and spirit of this disclosure can be implemented by those skilled in the art, although not specifically described herein. Furthermore, to avoid unnecessary repetition, one or more features shown and described in association with one example may be incorporated into other examples unless otherwise specifically described or if one or more features would render the example inoperable. In some cases, well-known methods, processes, components, and circuits have not been described in detail to avoid unnecessarily obscuring aspects of the examples.

[0024] This disclosure describes various instruments and parts thereof based on their state in three-dimensional space. As used herein, the term “position” refers to the location of an object or part of an object in three-dimensional space (e.g., three translational degrees of freedom along Cartesian x, y, and z coordinates). As used herein, the term “orientation” refers to the rotational placement of an object or part of an object (e.g., one or more rotational degrees of freedom, such as roll, pitch, and yaw). As used herein, the term “pose” refers to the position of an object or part of an object in at least one translational degree of freedom and the orientation of the object or part of an object in at least one rotational degree of freedom (e.g., up to six total degrees of freedom). As used herein, the term “shape” refers to a set of poses, positions, and / or orientations measured along an object. As used herein, the term “distal” refers to a location closer to the process site, and the term “proximal” refers to a location further away from the process site. Thus, when an instrument is designed to perform a process, the distal portion or distal end of the instrument is closer to the process site than the proximal portion or proximal end of the instrument.

[0025] This disclosure occasionally relates to the application of the disclosed techniques to "patients" undergoing a "medical procedure." It should be understood that these references are not intended to limit the application of the disclosed techniques to medical settings. For example, the described techniques can be applied to facilitate physician training, equipment testing and / or calibration, and / or other settings. Therefore, any reference to the term "patient" is for illustrative purposes only, and it is also contemplated that the described techniques be applied to "subjects" in general.

[0026] This disclosure uses the term "sterility" to describe various objects, areas, and states of an apparatus. Other terms such as hygiene, cleanliness, and disinfection are used interchangeably to describe the objects, areas, or states of an apparatus or tool used to perform an operation.

[0027] Aspects of this disclosure may be part of a computer-aided manipulator system (sometimes referred to as a robot-aided manipulator system or a robot system). This manipulator system may include one or more manipulators, which may be manually operated and / or operated with the assistance of an electronic controller (e.g., a computer) to move and control the function of one or more instruments when coupled to the manipulators. Embodiments where the manipulator system is at least partially electronically controlled may be referred to as a remotely operated manipulator system.

[0028] Figure 1 An embodiment of a benchtop manipulator system 100 (“System 100”) for performing aseptic status monitoring and providing indications of the aseptic status of various parts of the manipulator system is illustrated. System 100 includes a benchtop assembly 101, at least one track assembly 120 coupled to the benchtop assembly, and one or more manipulators 140 (also referred to as repositionable structures) coupled to each track assembly 120. Each manipulator 140 may carry one or more instruments 150, which may be removably or permanently mounted on the manipulator 140. Figure 1As shown, system 100 may further include a control system 1006, a user input and feedback system 1004, and / or an auxiliary system 1008. In some embodiments, system 100 is configured as a computer-aided, remotely operable medical system, in which case the stage assembly 101 may be configured to support a patient (not shown), and the instrument 150 may be a medical device. System 100 in this configuration can be used, for example, to perform any of various medical procedures, such as surgical procedures, diagnostic procedures, imaging procedures, treatment procedures, etc. Furthermore, system 100, when configured as a remotely operable medical system, does not necessarily need to be used on a living human patient. For example, non-human animals, cadavers, tissue-like materials for training purposes, etc., may be supported on stage assembly 101 and operated on by system 100. In other embodiments, system 100 is configured as a computer-aided, remotely operable operating system for non-medical situations, in which case stage assembly 101 may be configured to support an inanimate object (something being manufactured, repaired, tested, etc.), and the instrument 150 may be a non-medical device, such as industrial machinery.

[0029] like Figure 1 As shown, the table assembly 101 includes: a platform assembly 110 configured to support a patient or inanimate object; a support column 102 coupled to and supporting the platform assembly 110; and a base 105 coupled to the support column 102. The base may be configured to contact the ground or other surface on which the table assembly 101 is mounted to provide stability to the table assembly 101. In some embodiments, the base 105 is omitted. In some embodiments, the base 105 includes movable features, such as wheels, rails, or other such features (not shown), to allow the table assembly 101 to move along the ground or other surface. Figure 1 For the sake of simplicity, support column 102 is shown as a single vertical column, but support column 102 can take any desired shape and can include any number of components. For example, support column 102 may include horizontal support structures (not shown), such as beams, tracks, etc., to couple platform assembly 110 to the vertical portion of support column 102. Furthermore, in various embodiments, support column 102 may be telescopic and configured to extend and retract in height.

[0030] Platform assembly 110 includes one or more platform segments 103 for supporting a patient or workpiece. Each platform segment 103 has a support surface configured to contact and support the patient or workpiece. In some embodiments, multiple platform segments 103 are used, and the platform segments 103 are arranged in series to support different portions of the patient or workpiece. For example, in Figure 1In the illustrated embodiment, platform assembly 110 includes a first end segment 103_1, one or more intermediate segments 103_2, and a second end segment 103_3, with one or more intermediate segments 103_2 disposed between the two end segments 103_1 and 103_3. In some embodiments, the first end segment 103_1 may be configured to support the patient's head, the second end segment 103_3 may be configured to support the patient's feet and / or legs, and one or more intermediate segments 103_2 may be configured to support the patient's torso and / or other parts. For convenience, the side of platform assembly 110 closest to the first end segment 103_1 (e.g., Figure 1 The left side of the orientation shown will be referred to herein as the "head" (or "head side" or "head end") of platform assembly 110, and the side of platform assembly 110 closest to the second end segment 103_3 (e.g., Figure 1 The right side of the orientation shown will be referred to herein as the “foot” (or “foot side” or “foot end”) of platform assembly 110, but this is merely an arbitrary convention chosen herein for ease of description and is not intended to limit the configuration or use of platform assembly 101 (e.g., if desired, the patient’s head may be positioned on the “foot” side of platform assembly 110, and the patient’s feet may be positioned on the “head” side of platform assembly 110). The relative positions of two components or two portions of a single component may also be described using “head” and “foot” (e.g., the “head end” and “foot end” of track 121), where “head” refers to the component or portion relatively closer to the head end of platform assembly 101, and “foot” refers to the component or portion relatively closer to the foot end of platform assembly 101. In other embodiments, different numbers and arrangements of platform segments 103 are used, including one, two, four, or more platform segments 103. In some embodiments, one or more of the platform segments 103 may be movable relative to other platform segments 103 and / or relative to the support column 102. For example, in some embodiments, some or all of the platform segments 103 are coupled to adjacent platform segments 103 and / or to the support column 102 via rotatable joints, such that at least some of the platform segments 103 may tilt relative to each other and / or relative to the support column 102. The platform assembly 110 may also be movable as a whole relative to the support column 102, as described in more detail below.

[0031] Platform component 110 has a longitudinal dimension of 198 (e.g., parallel to...). Figure 1 The x-axis in the diagram), and the transverse dimension orthogonal to the longitudinal dimension (e.g., parallel to the longitudinal dimension). Figure 1 The y-axis in the figure), and the thickness or height dimension orthogonal to both the longitudinal dimension 198 and the transverse dimension (e.g., parallel to the y-axis). Figure 1(z-axis in the text). As used herein, longitudinal dimension 198 refers to the maximum extent of the size of platform assembly 110 when all fully extended and entirely oriented support surfaces of the platform segments 103 of the platform assembly are substantially aligned with each other in the same plane (or as close as possible to this state) to collectively form a combined support surface, which is substantially planar with potentially small gaps between adjacent platform segments 103. Typically, when platform assembly 110 is in a neutral configuration, the longitudinal and lateral dimensions of platform assembly 110, as well as the support surfaces of platform segments 103, are oriented substantially parallel to the ground or other surface on which the platform assembly 101 is supported. However, those skilled in the art will understand that platform assembly 110 as a whole and / or its individual platform segments 103 do not necessarily have to be parallel to the ground, and one or both of the longitudinal and / or lateral dimensions can be tilted relative to the ground in various configurations (including in some cases in a neutral configuration), through which platform assembly 110 and / or platform segments 103 can be moved. Platform assembly 110 and its various platform segments 103 have various sides or faces extending along a longitudinal dimension 198 or a transverse dimension, and these sides or faces may be referred to herein as longitudinally extending sides (or faces) and transversely extending sides (or faces), respectively. Specifically, a longitudinally extending side (or face) is a side of platform assembly 110 or platform segment 103 extending along the longitudinal dimension 198 of platform assembly 110 (i.e., along...). Figure 1 The side (or face) extending in the x-direction. For example, in Figure 1 The middle indicates a longitudinally extending side 109b of the platform assembly 1110. Similarly, a lateral extending side (or face) is the lateral dimension (i.e., along the platform assembly 110 or platform segment 103) of the platform assembly 110 or platform segment 103. Figure 1 The side (or face) extending in the y-direction. For example, in Figure 1 The two lateral extension sides 109a of the platform assembly 110 are indicated in the diagram. At least one of the platform segments 103 is directly coupled to and supported by the support column 102. The remaining platform segments 103 may be directly coupled to the support column 102, or they may be indirectly coupled to the support column 102 via a series of one or more intermediate platform segments 103. For example, in some embodiments, the main platform segment 103 (e.g., intermediate segment 103_2) is coupled to and directly supported by the support column 102, and other platform segments 103 (e.g., end segments 103_1 and 103_3) are coupled to the main platform segment 103 or another platform segment 103. As another example, in some embodiments, multiple platform segments 103 (all of them in some embodiments) are directly coupled to the support column 102 without being coupled to another platform segment 103.

[0032] In some embodiments, some (or in some cases all) of the aforementioned portions of platform assembly 101 may be movable relative to each other. For example, in some embodiments, platform assembly 110 as a whole may be movable relative to support column 102, for example by tilting about a horizontal axis, rotating about a vertical axis, translating vertically along support column 102, translating horizontally relative to support column 102, etc. In some embodiments, such movement of platform assembly 110 as a whole may be provided by one or more joints coupling the main platform segment 103 (e.g., intermediate segment 103_2) to support column 102. Furthermore, as already noted above, the individual platform segments 103 may be movable relative to each other and also relative to support column 102, which may be facilitated by joints coupling platform segments 103 to support column 102 or adjacent platform segments 103.

[0033] In some embodiments, platform assembly 110 further includes one or more accessory rails 104. Accessory rails 104 may be configured to receive accessory devices removably mounted thereon, such as leg rests, liver retractors, armrests, and bed extenders. In some embodiments, accessory rails 104 conform to industry standard specifications familiar to those skilled in the art to allow compatibility with accessory devices conforming to those standards. Accessory rails 104 may be attached to one or more longitudinally extending sides of platform segment 103. One or more openings may be defined between accessory rails 104 and the sides of platform segment 103 to which accessory rails 104 are attached, and portions of accessories mounted to accessory rails 104 may be inserted through these openings.

[0034] As described above, the manipulator system 100 also includes one or more manipulators 140. Although Figure 1 Two manipulators 140 are shown, but any number of manipulators 140 may be included (such as, for example, one, two, three, or more manipulators mounted to each track assembly 120, as described in further detail below). A manipulator 140 may include a kinematic structure of links coupled together by one or more joints. Specifically, each manipulator 140 includes: a proximal link assembly including a proximal arm 141 movably coupled to the track assembly 120 via one or more proximal joints 130; an intermediate link assembly including an intermediate arm 142 movably coupled to the proximal link assembly via one or more intermediate joints 145; and a distal link assembly including a distal arm 143 movably coupled to the intermediate link assembly via one or more distal joints 146. The distal link assembly may also include an instrument holding portion 169 coupled to the distal arm 143 and configured to carry the instrument 150.

[0035] Each manipulator 140 also includes status indicators 170 disposed along various links and joints of the manipulator 140. For example, status indicators 170 may be disposed along the proximal arm 141, proximal joint 130, intermediate arm 142, intermediate joint 145, distal arm 143, distal joint, and / or instrument holding portion 169. Typically, status indicators 170 may be disposed along any portion of the manipulator 140 to provide indication of various states of that portion or area of ​​the manipulator 140. For example, a corresponding status indicator 170 may provide indication of the corresponding sterility state of the proximal arm 141, intermediate arm 142, and arm 143 or joints 130, 145, and 146. Status indicators 170 may also provide indication of whether a portion or component of the manipulator 140 is ready to be manually repositioned, whether it has come into contact with an object or person, whether it has entered a non-sterile area of ​​space, whether it has approached a non-sterile area or object, etc. Status indicators 170 may include one or more light-emitting diodes (LEDs), audio speakers, or tactile devices. Therefore, the status indicator 170 can provide indications of various states of corresponding parts of the manipulator 140 via visual, audio, or tactile output. The status indicator 170 will be referenced herein. Figures 2A to 5 To describe in more detail.

[0036] The manipulator 140 is capable of movement via a variety of degrees of freedom of motion provided by various joints, including proximal joint 130, intermediate joint 145, and distal joint 146, thereby allowing the device 150 mounted thereon to move relative to the workplace. Some of the joints provide rotation of the links relative to each other, others provide translation of the links relative to each other, and some provide both rotation and translation. In particular, in some embodiments, the proximal arm 141 is rotatably coupled to the track 121 via a first proximal joint 130a, which provides the proximal arm 141 relative to the track 121 about a longitudinal dimension 197 perpendicular to the track 121 (e.g., perpendicular to the track 121). Figure 1 The rotation of the first axis 136 (in the x-direction). In the neutral state of the proximal arm 141, the first axis 136 is also perpendicular to the lateral dimension of the track 121 (e.g., perpendicular to the x-direction). Figure 1 (in the y-direction), and therefore in this state, the first axis 136 is vertically oriented (i.e., perpendicular to the aforementioned horizontal plane, or in other words, in the y-direction), and thus in this state, the first axis 136 is vertically oriented (i.e., perpendicular to the aforementioned horizontal plane, or in other words, in the y-direction). Figure 1 Oriented in the z-direction). Additionally, in the neutral state of platform component 101—where platform 110 is parallel to the ground and track 121 (i.e., Figure 1 In the orientation of the x-direction, the first axis 136 is also perpendicular to the longitudinal axis 198 of the platform 110, but this is not necessarily the case in other states (e.g., when the platform 110 is tilted relative to the track 121, which is possible in some embodiments).

[0037] In some embodiments, the proximal link assembly of certain manipulators 140 is configured to allow rotation of the proximal link 141 about a second axis 137, in addition to allowing rotation about a first axis 136, wherein the second axis 137 is orthogonal to the first axis 136. In some embodiments, rotation about the second axis 137 may be provided by a second proximal joint 130b included in the proximal link assembly. In particular, in some embodiments, the proximal link assembly of certain manipulators 140 further includes a second proximal joint 130b, and the first proximal joint 130a and the second proximal joint 130b together couple the proximal arm 141 to the track 121, wherein the second proximal joint 130b provides rotation of the proximal arm 141 relative to the track 121 about a second axis 137, which is orthogonal to the first axis 136 and parallel to the longitudinal dimension 197 of the track 121 (e.g., ...). Figure 1 (x-direction in the middle). In some embodiments, the second proximal joint 130b is coupled between the track 121 and the first proximal joint 130a, while in other embodiments, the second proximal joint 130b is coupled between the first proximal joint 130a and the proximal arm 141 (in the x-direction). Figure 1(Not shown in the diagram). In yet another embodiment, rotation about the second axis 137 is provided by the first proximal joint 130a without adding a second proximal joint (e.g., the first proximal joint 130a is configured to provide rotation about multiple axes, such as a ball-and-socket joint). In some embodiments, the longitudinal dimension 197, and therefore the second axis 137, is parallel to the ground. In the neutral state of the platform assembly 101, the second axis 137 is also parallel to the longitudinal axis 198 of the platform 110, but this is not necessarily the case in other states (e.g., when the platform 110 is tilted relative to the track 121, which is possible in some embodiments). Rotation of the proximal arm 141 about the second axis 137 (e.g., via the second proximal joint 130b) causes the proximal arm 141 to incline or decline relative to the horizontal plane, thereby raising or lowering the distal end of the proximal arm 141 relative to the track 121. Additionally, as the proximal arm 141 slopes up relative to the horizontal plane, movement of the proximal arm 141 can correspondingly raise and extend further across the platform (rather than just vertical movement) the more distal portion of the manipulator 140. In some embodiments, rotation about the second axis 137 (e.g., via the second proximal joint 130b) allows the proximal arm 141 to move between orientations ranging from at least a horizontal orientation to a vertically inclined orientation (e.g., rotation of at least 90 degrees). In some embodiments, rotation about the second axis 137 (e.g., via the second proximal joint 130b) can also allow the proximal arm 141 to rotate to an orientation that slopes down relative to the horizontal orientation. In some embodiments, certain manipulators 140 are provided with the ability to rotate about the second axis 137 (e.g., via the second proximal joint 130b), while others are not. For example, in some embodiments, a first manipulator 140, whose proximal arm 141 is positioned below a second manipulator 140 in a nested configuration (e.g., further described below), may be provided with a second proximal joint 130b (e.g., to make room for the proximal joint 130b due to the lower positioning of the proximal arm 141), while the second manipulator 140 may omit the second proximal joint 130b (e.g., because there is insufficient space for the second joint due to the higher positioning of the proximal arm 141 of the second manipulator 140). In other embodiments (not shown), all of the manipulators 140 coupled to the same track 121 (or in some embodiments, all manipulators 140 in system 100) are provided with the ability to rotate about a second axis 137 (e.g., via the second proximal joint 130b). In yet another embodiment (not shown), none of the manipulators 140 coupled to a given track 121 (or in some embodiments, none of the manipulators 140 in the entire system 100) are provided with the ability to rotate about the second axis 137.

[0038] Additionally, in some embodiments, the proximal arm 141 is extendable and retractable. For example, the proximal arm 141 may include two or more links that are telescopically translatable relative to each other to extend or retract the proximal arm 141. In other words, the two or more links are coupled together by a prismatic joint, or they themselves form a prismatic joint. For example, in some embodiments, the proximal arm 141 includes an outer link having a hole (e.g., an axial hole extending along the longitudinal axis of the proximal arm 141) and an inner link nested within the outer link in its hole.

[0039] Additionally, in some embodiments, the proximal arm 141 has an asymmetrical shape, meaning that as it extends from the proximal portion to the distal portion of the proximal arm 141, it follows a non-linear path, deviating from an imaginary straight line extending between the two end portions (i.e., connecting the two end portions). More specifically, the proximal arm 141 may extend between a proximal joint 130 coupled to the proximal portion of the proximal arm 141 and an intermediate joint 145 (described below) coupled to the distal portion of the proximal arm 141 to the intermediate arm 142, wherein the centerline of the proximal arm 141 extending between these joints 130 and 145 deviates from a straight line between the respective axes of joints 130 and 145. For example, in some embodiments, the proximal arm 141 has a smoothly curved shape (e.g., the centerline of the proximal arm follows a smoothly curved path), while in other embodiments, the proximal arm 141 has a segmented shape that includes a plurality of straight and / or curved segments joined together at an angle (e.g., L-shape).

[0040] In some embodiments, the intermediate arm 142 may be rotatably coupled to the distal portion of the proximal arm 141 via one or more intermediate rotary joints 145. For example, the intermediate joints 145 may provide rotation of the intermediate arm 142 relative to the proximal arm 141 about a third axis (not shown) perpendicular to both the intermediate arm 142 and the proximal arm 141. Additionally, in some embodiments, the intermediate joints 145 may provide rotation of the distal end of the intermediate arm 142 relative to the proximal arm 141 about an axis parallel to the longitudinal dimension of the intermediate arm 142. In some embodiments, the intermediate arm 142 is also extendable and retractable. For example, the intermediate arm 142 may include two or more links that are telescopically translatable relative to each other, thereby extending or retracting the intermediate arm 142 in a manner similar to that described above with respect to the proximal arm 141. In some embodiments, the links of the intermediate arm 142 are both capable of translating relative to each other along the longitudinal dimension of the intermediate arm 142 and rotating relative to each other about an axis parallel to the longitudinal dimension of the intermediate arm 142, thereby providing the aforementioned rotation of the distal end of the intermediate arm 142 relative to the proximal arm 141 about an axis parallel to the longitudinal dimension of the intermediate arm 142.

[0041] Furthermore, in some embodiments, the distal arm 143 is movably coupled to the instrument holding portion 169 via a wrist 147, the wrist 147 including a joint for moving the instrument holding portion 169 relative to the distal arm 143. The joint of the wrist 147 may be referred to herein as a wrist joint. In some embodiments, the wrist 147 provides multiple rotational degrees of freedom. For example, in some embodiments, the wrist 147 has three rotational degrees of freedom for the instrument holding portion 169 relative to the distal arm 143. For example, the wrist 147 may be rotatably coupled to the distal arm 143 to provide a rolling degree of freedom including rotation of the wrist 147 as a whole about an axis parallel to the distal arm 143, and the wrist 147 may also include two joints for providing yaw and pitch degrees of freedom including rotation about pitch and yaw axes perpendicular to each other. One of the pitch and yaw axes is also perpendicular to the roll axis (the other of the pitch and yaw axes may also be perpendicular to the roll axis in the neutral state of wrist 147, but not necessarily in other states). In some embodiments, joints providing some of the degrees of freedom of movement of wrist 147 (e.g., yaw and pitch in some embodiments) are driven by actuators located away from wrist 147, for example in a more proximal portion of manipulator 140, wherein an actuating element (e.g., cable, filament, strip, belt, linkage, etc.) extends from the actuator to wrist 147 to drive movement of wrist. For example, in some embodiments, wrist includes two wrist joints disposed within wrist that provide rotation about the yaw and pitch axes, and these two wrist joints may be coupled to an actuating element (e.g., cable) driving rotation. In some embodiments, the actuator driving wrist 147 is positioned in distal arm 143. Positioning the actuator away from wrist 147 allows for a more compact wrist 147. In some cases, a compact wrist (e.g., wrist 147) can be positioned closer to other parts of the manipulator 140, which allows for greater flexibility in the positioning and pose of the manipulator 140. Furthermore, placing the actuator in a more proximal portion of the manipulator 140, such as in the distal arm 143, shifts the weight of the actuator closer to the proximal end of the kinematic chain constituting the manipulator 140, thereby reducing the torque arm (leverage) generated by the weight of the actuator.

[0042] Some or all of the joints in system 100 (and other joints that may be present in the system) may be powered joints, meaning that a power drive element can control the movement of the joint by supplying power. Such power drive elements may include, for example, electric motors, pneumatic or hydraulic actuators, and other types of power drive elements familiar to those skilled in the art. In some embodiments, the joint of wrist 147 is a powered joint. Additionally, in some embodiments, some of the joints in system 100 may be manually engaged (e.g., unpowered) joints, which can be manually engaged, for example, by manually moving a link coupled to it. Joints referred to herein as unpowered joints may lack a power drive element for actuating the joint engagement, but may still include other power aspects or devices, such as electronically (or hydraulically / pneumatically, etc.) controlled brakes, sensors (e.g., position sensors, speed sensors, force sensors, torque sensors), or other power devices. Furthermore, in some embodiments, some of the joints in system 100 may be partially powered and partially manually engaged—for example, a power element such as a motor may assist manipulation, for example, by compensating for gravitational loads, but some manual power input may also be used to induce engagement. Additionally, some joints (whether powered or not) can also be passively balanced (e.g., via mass or springs). For example, under the control of control system 1006 in response to inputs listed at user input and feedback system 1004, some joints can be actively controlled during the execution of the process. Other joints, sometimes referred to as setup joints, can engage during the setup phase of preparing to execute the process, but can generally remain more or less stationary during the execution of the process. Setup joints can be powered, manually engaged, or partially powered. For example, in some embodiments, proximal joint 130 and the prismatic joint providing an extension of proximal arm 141 are setup joints.

[0043] As described above, the instrument holding portion 169 is configured to support the instrument 150, and in some embodiments, the instrument holding portion 169 includes a drive interface for removably coupling the instrument and providing drive inputs (e.g., mechanical force, electrical input, etc.) to drive the instrument coupled thereto. For example, the drive interface may include an output coupler (not shown) to engage (directly or indirectly via an intermediary) with an input coupler (not shown) of the instrument 150, thereby providing drive forces or other inputs to the mounted instrument 150 to control various degrees of freedom of movement and / or other functions of the instrument 150, such as moving end effectors of the instrument, opening / closing jaws, driving translation and / or rotation of various components of the instrument, delivering matter and / or energy from the instrument, and various other functions familiar to those skilled in the art. The output coupler may be driven by actuators familiar to those skilled in the art (e.g., electric servo motors, hydraulic actuators, pneumatic actuators). A sterile instrument adapter (ISA) may be disposed between the instrument 150 and the instrument manipulator mounting interface to maintain sterile separation between the instrument 150 and the manipulator 140. The instrument manipulator mount may also include other interfaces (not shown), such as electrical interfaces for providing and / or receiving electrical signals to and from instrument 150. Instrument 150 may include any tool or apparatus, including, for example, industrial instruments and medical devices (e.g., surgical instruments, imaging instruments, diagnostic instruments, therapeutic instruments, etc.). In some embodiments, system 100 may also include throughput transmission capabilities, such as supplying power, fluid, vacuum pressure, light, electromagnetic radiation, etc., to end effectors. In other embodiments, such throughput transmission may be provided to the instrument via another auxiliary system 1008, which is further described below and is familiar to those skilled in the art in the context of computer-aided remotely operated medical systems.

[0044] Refer to Figure 2 below. Figure 5 Describe additional details related to the manipulator, Figures 2 to 10. Figure 5Various embodiments of the manipulator 240 that can be used as manipulator 140 are shown. Furthermore, in some embodiments, aspects of the manipulator 140 may be similar to those described in, for example, U.S. Provisional Patent Application No. 63 / 336,773 entitled “RAIL ASSEMBLY FOR TABLE MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS” by inventor Ryan Abbott and U.S. Provisional Patent Application No. 63 / 336,778 entitled “NESTING PROXIMAL LINKS FOR TABLE MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS” by first inventor Bram Lambrecht (both U.S. Provisional Patent Applications filed April 29, 2022); or similar to, for example, U.S. Patent No. 9,358,074 entitled “Multi-Port Surgical Robotic System Architecture” by Schena et al. (filed May 31, 2013) and Schena et al. entitled “Redundant Axis and Degree of The manipulators described in U.S. Patent No. 9,295,524, entitled "Freedom for Hardware-Constrained Remote Center Robotic Manipulator" (filed May 31, 2013), U.S. Patent No. 8,852,208, entitled "Surgical System Instrument Mounting," by Gomez et al. (filed August 12, 2010), and WO International Publication No. 2023 / 212344 A1, entitled "TABLE-MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS," by first inventor Steven Manuel, are incorporated herein by reference in their entirety. Various other implementations of the manipulator may include those configured as part of a medical system, which is part of a variety of da Vinci® surgical systems, such as the da Vinci X®, da Vinci Xi®, and da Vinci SP systems commercialized by Intuitive Surgical, Inc. of Sunnyvale, California.

[0045] The number, position, and type of links, joints, and status indicators of the manipulator, as well as its various degrees of freedom, are not limited to those described above. In some embodiments, the manipulator includes additional links, joints, status indicators, and / or degrees of freedom in addition to those described above. In other embodiments, some of the links, joints, status indicators, and / or degrees of freedom described above may be omitted from the manipulator. The embodiments contemplated herein include various combinations of one or more of the links, joints, and degrees of freedom described above.

[0046] like Figure 1 As shown, the manipulator 140 is coupled to the platform assembly 101 via at least one track assembly 120. The platform assembly 101 includes a platform assembly 110 on which a body or patient can be supported. In some embodiments, a plurality of similar track assemblies 120 are provided, for example, one on each longitudinally extending side of the platform assembly 110. For example, in some embodiments, a first track assembly 120 may be provided on a first longitudinally extending side of the platform assembly 110, and a second track assembly 120 may be provided on a second longitudinally extending side of the platform assembly 110. In such embodiments with a plurality of track assemblies 120, the manipulator 140 may be coupled to the track assemblies 120 in any number or combination, and because the track assemblies 120 may be positioned along different sides of the platform assembly 110, the manipulator 140 may also be positioned along different sides of the platform assembly 110. The following description will describe one track assembly 120 for simplicity, but other track assemblies 120 (if present) may be configured similarly. The track assembly 120 includes a track 121 and a plurality of carriages 126 (also referred to as "first carriages 126") coupled to the track 121 and to the manipulator 140 to allow the manipulator 140 to move along the track 121. More specifically, the first carriages 126 may be coupled to (or may be part of) a proximal link assembly of a corresponding manipulator 140. Each carriage 126 is movable along the longitudinal dimension 197 of the track 121 and respectively couples a corresponding manipulator 140 to the track 121 such that the manipulator 140 can translate relative to the track 121 along the longitudinal dimension 197 of the track 121. In some embodiments, in a neutral configuration of the platform assembly 110, the longitudinal dimension 197 of the track 121 is parallel to the longitudinal dimension 198 of the platform assembly 110 (e.g., parallel to the x-axis), such as Figure 1 As shown.

[0047] The movable track 121 includes a first set of engagement features 122 configured to engage with complementary engagement features of a first carriage 126. For example, the first set of engagement features 122 of the track 121 may include a guide rail comprising a flange extending along a longitudinal dimension 197, and the complementary engagement features of the first carriage 126 are configured to engage the flange of the first set of engagement features 122 and travel along the flange of the first set of engagement features 122. The first set of engagement features 122 may also include a guide rail comprising a groove in which the complementary engagement feature is received. Any other type of complementary engagement feature that allows relative translation during engagement can be used as the complementary engagement feature, and various complementary engagement features used in track and carriage systems are familiar to those skilled in the art. In some embodiments, the first set of engagement features 122 and / or the complementary engagement features may include bearing devices configured to reduce friction for easier translation, such as wheels, balls, sliding bearing surfaces coated or otherwise provided with a low-friction material, and other friction-reducing mechanisms. Figure 1 In the diagram, each manipulator 140 is shown with a first carriage 126, but multiple first carriages 126 may be provided to be operatively coupled to and support a given manipulator 140.

[0048] In some embodiments, in addition to the manipulator 140 being movable along the track 121, the track 121 can also be movable relative to the stage assembly 101. In such embodiments, the track assembly 120 further includes one or more carriages 127 (also referred to as "second carriages 127") coupled to the track 121 and coupled to the stage assembly 101 to allow movement of the track 121. More specifically, the carriages 127 couple the track 121 to the stage assembly 101 such that the track 121 can translate relative to the stage assembly 101 along a direction of the longitudinal dimension 197 of the track 121. In particular, in these embodiments, the track 121 includes a second set of engagement features 123 (e.g., guide rails or other engagement features) that engage with complementary engagement features of the second carriage 127 to couple the track 121 to the second carriage 127 and allow translation between the track 121 and the second carriage 127.

[0049] In some embodiments, translation between track 121 and platform assembly 101 is provided by relative movement between second carriage 127 and track 121. For example, in some embodiments, second carriage 127 is fixed relative to platform assembly 101 (e.g., is part of platform assembly 101), and track 121 and second carriage 127 are movably coupled together such that track 121 translates relative to second carriage 127 along a direction of longitudinal dimension 197 of track 121. For ease of description, in Figure 1 A second carriage 127 is shown, but any number can be used, including in some embodiments where there is no second carriage 127.

[0050] In some embodiments, translation of the track 121 relative to the stage assembly 101 is provided by relative movement between the second carriage 127 and the stage assembly 101. For example, in some embodiments, the second carriage 127 is fixed relative to the track 121 (e.g., is part of the track 121) and movably coupled to the stage assembly 101 such that translation of the second carriage 127 relative to the stage assembly 101 along the longitudinal dimension 197 causes translation of the track 121 relative to the stage assembly 101.

[0051] In some embodiments, the translation between the track 121 and the platform assembly 101 is provided by a combination of the relative motion between the second carriage 127 and the track 121 and the relative motion between the second carriage 127 and the platform assembly 101.

[0052] In some embodiments where the second carriage 127 is movably coupled to the stage assembly 101, the track assembly 120 further includes a second track 124 that can be coupled between the second carriage 127 and the stage assembly 101. In other embodiments, the second carriage 127 can be directly coupled to the stage assembly 101.

[0053] Compared to a configuration where track 121 is fixed relative to platform assembly 101, the mobility of track 121 relative to platform assembly 101 allows for a greater range of motion of manipulator 140 and / or allows for shortening of track 121. This also allows track assembly 120 and / or manipulator 140 to more easily move out of the path of platform assembly 110 to avoid interfering with platform assembly 110 when platform assembly 110 and / or its various platform segments 103 move through various configurations. However, in some embodiments, track 121 is fixed relative to platform assembly 101, and manipulator 140 is positioned relative to platform assembly 110 only by movement of manipulator 140 along track 121.

[0054] In some embodiments, the track assembly 120 is coupled to one of the platform segments 103. In other embodiments, the track assembly 120 is coupled to a support column 102. In embodiments where the platform assembly 110 as a whole can move relative to the support column 102 (e.g., by tilting relative to the support column 102), the coupling of the track assembly 120 to which it is coupled may vary. In embodiments where the track assembly 120 is coupled to one of the platform segments 103 (e.g., intermediate segment 103_2), when the platform assembly 110 moves relative to the support column 102, the track assembly 120 and thus the manipulator 140 coupled thereto move together with the platform assembly 110. This allows the manipulator 140 to automatically maintain its set pose and position relative to the platform assembly 110 (and therefore relative to the patient supported on the platform assembly), regardless of the configuration of the platform assembly 110 and without requiring repositioning of the manipulator 140. Furthermore, in some cases, since both platform assembly 110 and track assembly 120 move together, collisions between platform assembly 110 and track assembly 120 caused by the movement of platform assembly 110 can be avoided. In embodiments where track assembly 120 is coupled to a support column, when platform assembly 110 moves relative to support column 102, track assembly 120 and thus the actuator 140 coupled thereto remain together with support column 102 and do not move with platform assembly 110. This allows for greater movement of track assembly 120 and actuator 140 relative to platform assembly 110. This also increases the strength and / or relative rigidity of the structure between actuator 140 and support column 102 by reducing the length of the structure between actuator 140 and support column 102 and reducing the number of connections between them.

[0055] In some embodiments, a motor or other actuating device (not shown) is provided to drive relative translation between the track 121 and the first carriage 126. Similarly, in embodiments where a second carriage 127 is present, a motor or other actuating device (not shown) may be provided to drive relative translation between the track 121 and the second carriage 127 and / or between the second carriage 127 and the stage assembly 101. In some embodiments, the motor / actuator is housed within the track 121. In some embodiments, the motor / actuator is housed within the first carriage 126 and / or the second carriage 127. In some embodiments, the motor / actuator is housed within the stage assembly 101.

[0056] In some embodiments, movement of the manipulator 140, implemented by the track assembly 120, relative to the platform assembly 110 allows the distal link assembly of the manipulator 140 to move into a nested configuration near an end portion of the platform assembly 110. This allows the intermediate and distal link assemblies of the manipulator 140 to move around the end of the platform assembly 110 to a position adjacent to the lateral extension side 109a of the platform assembly 110. Specifically, in some embodiments, the nested configuration includes a configuration where the proximal arms 141 of two adjacent manipulators 140 coupled to the same track 121 are oriented at an angle of 180 degrees or greater relative to the track 121. In other words, the nested configuration includes a configuration where each of the proximal arms 141 is oriented parallel to or beyond the longitudinal dimension 197 parallel to the track 121 and / or the longitudinal dimension 199 of the platform 110. Furthermore, in a nested configuration, the proximal arms 141 of the two manipulators 140 are positioned adjacent to each other near the end portions of the platform assembly 110 (e.g., near the foot end in some embodiments), wherein the proximal arms 141 overlap each other in the vertical direction (e.g., the z-axis direction). This allows the manipulators to make way for tasks requiring clearance along the longitudinally extending side 109b of the platform assembly 110. Figure 1 In one embodiment, the manipulator 140 is configured to be moved beyond the foot end of the platform assembly 110 in a nested configuration. In other embodiments, the manipulator 140 may be moved beyond the head end of the platform assembly 110, and in yet another embodiment, the manipulator 140 may be moved beyond both the head end and the foot end. Additionally, the nested configuration may allow the manipulator 140 to be compactly tucked under the second end segment 103_3.

[0057] In some embodiments, the track assembly 120 may be similar to the track assembly described in U.S. Provisional Patent Application No. 63 / 336,773 entitled “RAIL ASSEMBLY FOR TABLE MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS”, U.S. Provisional Patent Application No. 63 / 336,778 entitled “NESTING PROXIMAL LINKS FOR TABLE MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS”, and WO International Publication No. 2023 / 212344 A1 (filed April 28, 2023) entitled “TABLE-MOUNTED MANIPULATOR SYSTEM, AND RELATED DEVICES, SYSTEMS AND METHODS” by first inventor Steven Manuel, each of which is incorporated herein by reference.

[0058] The user input and feedback system 1004, control system 1006, and auxiliary system 1008 will be further described. Some or all of these components may be located remotely from the stage assembly 101. The user input and feedback system 1004 is operatively coupled to the control system 1006 and includes one or more input devices to receive input control commands to control the operation of the manipulator 140, status indicator 170, instrument 150, track assembly 120, and / or stage assembly 101. Such input devices may include, but are not limited to, telepresence input devices, triggers, grip input devices, buttons, switches, pedals, joysticks, trackballs, data gloves, trigger guns, eye-tracking devices, voice recognition devices, body motion or presence sensors, touchscreen technology, or any other type of device for registering user input. In some cases, the input devices may be configured with the same degrees of freedom as the associated instrument they control, and when the input device is actuated, the instrument is controlled via drive input from the manipulator assembly to follow or mimic the movement of the input device, which can provide the user with a direct sense of control over the instrument. The telepresence input device can provide telepresence to the operator, meaning that the input device and the instrument are integrated into the perception. The user input and feedback system 1004 may also include feedback devices, such as a display device (not shown) for displaying images (e.g., an image of the workspace captured by one of the instruments 150), haptic feedback devices, audio feedback devices, other forms of feedback in the form of graphical user interfaces, etc.

[0059] Control system 1006 can control the operation of system 100. Specifically, control system 1006 can send control signals (e.g., electrical signals) to platform assembly 101, track assembly 120, manipulator 140, status indicator 170, and / or apparatus 150 to control movement, provide status indications, and / or perform other operations on various components. In some embodiments, control system 1006 can also control some or all of the operations of user input and feedback system 1004, auxiliary system 1008, or other parts of system 100. Control system 1006 may include an electronic controller for controlling and / or assisting the user in controlling the operation of manipulator 140 and other components of system 100. The electronic controller includes a processing circuitry system configured with logic for performing various operations. The logic of the processing circuitry system may include dedicated hardware for performing various operations, software (machine-readable instructions and / or processor-executable instructions) for performing various operations, or any combination thereof. In examples where the logic includes software, the processing circuitry system may include a processor for executing software instructions and a memory device for storing the software. For example, a processor may include one or more processing devices capable of executing machine-readable instructions, such as a processor, processor core, central processing unit (CPU), controller, microcontroller, system-on-a-chip (SoC), digital signal processor (DSP), graphics processing unit (GPU), etc. Where the processing circuitry includes dedicated hardware, in addition to or in place of the processor, the dedicated hardware may include any electronic device configured to perform specific operations, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), complex programmable logic devices (CPLDs), discrete logic circuits, hardware accelerators, hardware encoders, etc. The processing circuitry may also include any combination of dedicated hardware and processor plus software.

[0060] Different degrees of user control and autonomous control can be utilized in system 100, and the embodiments disclosed herein can cover fully user-controlled systems, fully autonomous systems, and systems with any combination of user control and autonomous control. For user-controlled operations, control system 1006 generates control signals in response to receiving corresponding user input commands via user input and feedback system 1004. For autonomous control operations, control system 1006 can execute pre-programmed logic (e.g., a software program) and can determine and send control commands based on programming (e.g., in response to detected states or stimuli specified in the programming). In some systems, some operations can be user-controlled, while others can be autonomously controlled. Furthermore, some operations can be partially user-controlled and partially autonomously controlled—for example, a user input command can initiate the execution of an event sequence, and then control system 1006 can perform various operations associated with that sequence without further user input.

[0061] Additionally, the control system 1006 can analyze kinematic data associated with the manipulator system 100 and / or its components to determine the pose of various components relative to one or more sterility boundaries. For example, in some embodiments, the control system 1006 can register the manipulator 140 and / or portions thereof relative to a coordinate system (such as those described elsewhere herein). The control system 1006 can define one or more sterility boundaries based on the coordinates of the registered coordinate system. As an example, the control system 1006 can define a horizontal plane at a height corresponding to the z-value of the top surface of the platform assembly 110. Thus, by comparing the kinematic data of the manipulator 140 with the sterility boundaries using the same coordinate system, the control system 1006 can precisely identify which portions of the manipulator 140 have violated sterility protocols.

[0062] It should be understood that, depending on certain aspects, different users can define different aseptic protocols and thus utilize different aseptic boundaries. Therefore, the control system 1006 can be configured to present one or more graphical user interfaces that enable users to define aseptic protocols for the process. In other words, the control system 1006 allows users to define one or more aseptic boundaries with which the pose of the manipulator 140 is compared. In some embodiments, the definition is provided relative to a reference component registered with the control system 1006 (e.g., the top surface of platform assembly 110). In other embodiments, the definition may be defined by user interaction with a virtual model of the manipulator system 100. In yet another embodiment, the definition may be stored in an aseptic protocol file provided by the user to the control system 1006.

[0063] Now turn to Figure 2. Figure 5 The following describes another embodiment of the desktop control system 200 (“System 200”). System 200 can be used as System 100, and some components of System 200 can be used as components of System 100 as described above. In particular, System 200 includes a manipulator 240 (e.g., manipulator 240_1, 240_2), which can be used as manipulator 140 of System 100, as described in more detail below. Therefore, the description of the components of System 100 above applies to the relevant components of System 200, and repeated descriptions of these components are omitted below. Relevant components of Systems 100 and 200 are given reference numerals with the same rightmost two digits—e.g., 140 and 240. Although System 200 is one embodiment of System 100, System 100 is not limited to System 200.

[0064] like Figure 2A , Figure 2B and Figure 2C As shown, system 200 includes a platform assembly 201, two track assemblies 220 coupled to the platform assembly, and a plurality of manipulators 240 coupled to the track assemblies 220. Each manipulator 240 is configured to support one or more instruments (not shown), which may be removably or permanently mounted on the manipulator 240. System 200 may also include control systems (not shown), user input and feedback systems (not shown), and / or auxiliary systems (not shown) similar to those described above with respect to system 100. In some embodiments, system 200 is configured as a computer-aided, remotely operable medical system. In other embodiments, system 200 is configured as a remotely operable and / or manually operable system for non-medical settings.

[0065] like Figure 2A and Figure 2B As shown, the platform assembly 201 includes: a platform assembly 210 configured to support a patient or inanimate object; a support column 202 coupled to and supporting the platform assembly 210; and a base 205 coupled to the support column 202. The base 205 may be configured to contact a ground or other surface on which the platform assembly 201 is mounted, and in some embodiments, the base 205 includes wheels 206 to allow the system 200 to move along the ground or other surface. In some embodiments, the support column 202 includes a telescopic support column that can raise or lower the platform assembly 210.

[0066] Platform component 210 includes multiple platform segments 203 configured to support a patient or workpiece. Specifically, as shown in Figures 2 to 30... Figure 5In the illustrated embodiment, platform assembly 210 includes a first end segment 203_1 (“head segment 203_1”), intermediate segments 203_2 and 203_3, and a second end segment 203_4 (“foot segment 203_4”), which are arranged in series and movably coupled together via joint 207. In some embodiments, the first end segment 203_1 may be configured to support the patient’s head, the second end segment 203_4 may be configured to support the patient’s feet and / or legs, and a plurality of intermediate segments 203_2 and 203_3 may be configured to support the patient’s torso and / or other parts. Joint 207 allows adjacent platform segments 203 to pivot relative to each other about an axis of rotation parallel to the lateral dimension 299 of platform assembly 210 (e.g., parallel to the y-axis in the figures). In some embodiments, one or more platform segments 203 may be removable, for example, when they are not needed based on the patient’s size or the procedure to be performed. In some embodiments, an additional platform segment 203 may be added to the platform assembly 210. In some embodiments, in addition to or in place of one or more platform segments 203, an auxiliary device may be coupled to one or more platform segments 203; for example, in some embodiments, a leg pedal may be coupled to the middle segment 203_3 instead of the second end segment 203_4. Figure 2B The platform assembly 210 is shown in a neutral configuration, wherein all the platform segments 203 are parallel to each other and to the ground or other supporting surface on which the platform assembly 201 is mounted, and Figure 2A A platform assembly 210 in a mating configuration is shown, wherein some of the platform segments 203 are oriented at a non-zero angle relative to adjacent platform segments 203 and / or relative to the ground or other supporting surfaces. In some embodiments, some of the joints 207 may also allow further movement between adjacent platform segments 203, such as relative translation along longitudinal dimension 298 or relative rotation about a vertical axis parallel to the height dimension (i.e., the z-axis in the figures), which is perpendicular to the lateral dimension 299 and the longitudinal dimension 298. In some embodiments, the platform segments 203 include a relatively rigid support portion 203b and a softer cushion portion 203a attached to the support portion 203b, wherein the surface of the cushion portion 203a (i.e., Figure 2A The top surface in the illustrated orientation forms a support surface that contacts the patient or workpiece. In some embodiments, multiple platform segments 203 may share some components. For example, such as Figure 2AAs shown, intermediate platform segments 203_2 and 203_3 may share the same pad portion 203a extending across both platform segments 203_2 and 203_3. The pad portion 203a shared by platform segments 203_2 and 203_3 may be bent when platform segments 203_2 and 203_3 are engaged relative to each other, as... Figure 2A As shown.

[0067] In addition to allowing individual platform segments 203 to move relative to adjacent platform segments 203, the platform assembly 210 as a whole is movable relative to the support column 202. In some embodiments, the intermediate segment 203_3 is coupled to the support column 202 via one or more joints (not shown), thereby providing movement between the intermediate segment 203_3 and the column 202. Other platform segments 203_1, 203_2, and 203_4 are coupled (directly or indirectly) to the intermediate segment 203_3, and therefore, when the intermediate segment 203_3 moves relative to the support column 202, the platform assembly 210 as a whole moves relative to the support column 202. In some embodiments, the movement of the intermediate segment 203_3 (and therefore the platform assembly 210 as a whole) relative to the support column 202 includes pivoting (tilting) about a horizontal axis parallel to the lateral dimension 299 (e.g., pitch degree of freedom), such as... Figure 2A As shown. In some embodiments, additional degrees of freedom of motion are provided between the intermediate segment 203_3 and the support column 202, including pivoting (tilting) about a horizontal axis parallel to the longitudinal dimension 298 (e.g., rolling degree of freedom), rotating about a vertical axis (e.g., yaw degree of freedom), and / or translating along the longitudinal dimension 298 and / or the lateral dimension 299. Figure 2B As shown, in a neutral configuration, platform component 210 is parallel to the ground or other supporting surface.

[0068] like Figure 2A As shown, platform assembly 210 also includes a plurality of accessory rails 204 attached to the side surface of the support portion 203b of platform section 203. The accessory rails 204 can be configured to receive accessory devices removably mounted thereon, such as leg rests, liver retractors, armrests, and bed extenders. The accessory rails 204 are attached to one or more longitudinally extending sides of platform section 203.

[0069] As described above, system 200 includes a plurality of manipulators 240. (See Figures 2 to...) Figure 5In the illustrated embodiment, there are four manipulators 240, with two manipulators 240 on each longitudinally extending side 209b of the platform assembly 210 (i.e., two manipulators 240 are mounted to the first longitudinally extending side 209b of the platform assembly 210, and two manipulators 240 are mounted to the second longitudinally extending side 209b of the platform assembly 210). In other embodiments, more or fewer manipulators 240 may be used, for example, one, two, three, or more manipulators 240 per longitudinally extending side 209b. Figure 2A , Figure 2B and Figure 2C In the middle, one or more manipulators 240 are shown in a retracted state below the end section 203_4 while remaining coupled to the track 221.

[0070] Figure 2A , Figure 2B and Figure 2C Some or all of the manipulators 240 in various deployed states are shown (not all of the manipulators 240 are shown in various deployed states). Figure 2A , Figure 2B and Figure 2C (See each of these). The deployed state includes one or more of the manipulators 240 being in an unretolded state, which in some embodiments at least means that one or more manipulators 240 are at least partially deployed / decompressed while remaining coupled to track 221 and removed from the retracted position, for example, from below platform assembly 110. The manipulators 240 can be positioned in various deployed states. In some deployed states, the manipulators 240 are deployed and have a distal linkage assembly positioned in a sterile area (see, for example...). Figure 2A A sterile area is an area in which any exposed surface of an object remains sterile (e.g., substantially free of contaminants, such as biological pathogens, dust, oil, etc.). In some embodiments, the object may include a non-sterile surface covered by a sterile barrier.

[0071] Figure 2C Examples of sterility boundaries are further illustrated, along with various regions of space that may be associated with different sterility and state classifications and / or levels. A sterile zone can be defined as an area above a certain height, such as above orbit 221, platform 210, or other selected reference points. For example, as... Figure 2C As shown, the sterile area can be defined as the upper region 290 corresponding to the spatial region above the top surface 211 of the platform 210, or any other boundary defined in the sterility protocol implemented by the control system 1006. Figure 2CIn the illustrated embodiment, the upper region 290 is defined by a plane at an upper axis 280 corresponding to the top surface 211 of the platform 210. In this embodiment, any portion of an object below this height can be considered outside the sterile area and therefore not sterile. Alternatively, in some alternative embodiments, the upper region 290 may include the upper limit of a ceiling or ventilation system within the OR, above which is outside the sterile area.

[0072] In some examples, additional sterility boundaries may be defined to allow for a gradient of status levels or sterility levels to be provided to the user, which will be described further herein. In some implementations, the height defining the sterility zone is statically defined throughout operation. In other implementations, the height defining the sterility zone may change dynamically throughout operation. For example, as described above, platform 210 may translate in the vertical direction. Therefore, when platform 210 translates vertically, the height of platform 210 and / or track 221 changes. Thus, the sterility zone boundary may also change according to the translation of platform 210.

[0073] In some deployed configurations, the distal link assembly 263 is raised to a height sufficient to keep the distal link assembly 263 and any instruments supported thereon within the sterile area during deployment. Thus, in some embodiments, in the deployed configuration, the distal link assembly 263 is at or above the height of the proximal arm 241, track 221, platform 210, and / or some other predetermined level. In other deployed configurations, the manipulator 240 can be deployed without the distal link assembly fully positioned within the sterile area. Deployed configurations can include various configurations and positions of the manipulator 240, including but not limited to… Figure 2A , Figure 2B and Figure 2C The configurations and locations shown.

[0074] like Figure 2C As shown, the aseptic protocol implemented by the control system 1006 can define multiple aseptic boundaries, which define multiple corresponding aseptic regions. Figure 2C In the example, the upper boundary 280 is defined by the upper surface 211 of the platform 210, the middle boundary 285 is defined by the lower surface 212 of the platform 210, and the lower boundary 288 is defined relative to the floor 213. These boundaries define various regions of space, and the aseptic protocol associates these regions with different levels of non-sterile risk. For example, the platform region 282 can be defined as the space defined by the upper boundary 280 and the middle boundary 285, the lower region 287 can be defined as the space between the middle boundary 285 and the lower boundary 288, and the floor region 289 can be defined as the space between the lower boundary 288 and the floor 213.

[0075] In other implementations, the aseptic risk gradient can be defined relative to a single boundary. For example, the gradient can be associated with an expression that increases the non-sterile risk based on the distance from the boundary along a given axis (e.g., a vertical axis). Depending on the expression, the non-sterile risk can increase linearly, quadratically, exponentially, etc. In some implementations, the expression is normalized to a scale (e.g., 0 at the boundary and 100 at the maximum value (e.g., the floor surface or a virtual plane above the floor surface)).

[0076] In some implementations, the boundaries defining various regions and / or gradients can be customized, for example, via a user interface presented through the user input system 1004. For this purpose, different organizations may have different aseptic standards for different settings, processes, equipment, etc. Therefore, the operator of the user input system 1004 can input and / or upload a set of boundary preferences for use with the disclosed techniques.

[0077] Each of the spatial regions 290, 282, 287, and 289 can be classified into different sterility levels, resulting in a potential sterility level gradient across spatial regions 290, 282, 287, and 289. As an example, sterility protocols can assign levels to regions on a scale from 1 to 4, where 1 represents high sterility confidence and 4 represents high non-sterile confidence. In the scenario shown, the sterility level of floor region 289 could be 4, the sterility level of lower region 287 could be 3, the sterility level of platform region 282 could be 2, and the level of upper region 290 could be 1. While Figure 2C A set of example boundaries defined by aseptic protocols are depicted, but other aseptic protocols can define aseptic risk gradients and corresponding boundary regions in any suitable manner.

[0078] In the example, a single sterility boundary can define a sterility risk gradient. For example, a spatial region can be defined relative to a sterility boundary, such as an upper region 290 relative to an upper boundary 280. The upper region 290 can have a gradient of sterility levels, where lower sterility levels are farther from the upper boundary 280 and higher sterility levels are closer to the upper boundary. In such an example, lower sterility levels can be values ​​such as 0, where 0 indicates non-sterile, while a value of 1 can be assigned to be far from the upper boundary 280, thus indicating a sterile region, where the gradient of sterility levels varies between 0 and 1 from the upper boundary 280 to far from the upper boundary. In this way, a processor or control system can define a continuous or quasi-continuous gradient of sterility risk or sterility level relative to various sterility boundaries 280, 285, 288 and floor 213, across any of the spatial regions 290, 282, 287 and 289.

[0079] It should be understood that some boundaries can typically be static (e.g., boundaries defined by a floor, wall, or ceiling), while others can be dynamic, such as boundaries defined by one or more portions of platform 210, which can tilt, rise, lower, etc., during operation or process. Therefore, control system 1006 can monitor kinematic data associated with corresponding portions of platform 210 to adjust boundary areas based on that motion.

[0080] During operation, the control system 1006 monitors kinematic data associated with the manipulator 240 to determine its pose relative to boundaries defined by aseptic protocols. If the control system 1006 determines that a portion of the manipulator 240 crosses one of the aseptic boundaries, the control system 1006 may assign a aseptic value and / or state associated with the region the portion has entered. It should be understood that the control system 1006 may assign a aseptic value and / or state associated with the least aseptic region the portion has entered to each portion of the manipulator 240. Returning to the previous example, if a portion crosses a boundary from region 282 into region 287 during process execution, the control system 1006 may continue to associate that portion with the aseptic value and / or state associated with region 287 if the portion returns to region 282.

[0081] Figure 3 and Figure 4 Two embodiments of manipulators 240_1 and 240_2 with status indicators 270 are shown respectively. Manipulators 240_1 and 240_2 are generally similar to each other, the difference being that manipulators 240_1 and 240_2 employ status indicators 270 in two different configurations. Figure 3 The manipulator 240_1 includes a status indicator 270 arranged in a generally strip-like manner along the length of various links and joints of the manipulator 240_1, while Figure 4 The status indicator 270 of the manipulator 240_2 is arranged circumferentially around the link and joint at different positions along the length of the link and joint. Figure 4 The circumferential configuration provides status indications for various links and / or joints, allowing users or operators to see the status from various perspectives of a given link or joint. Figure 3 The strip configuration provides a finer resolution of the aseptic status of the corresponding parts of the manipulator 240.

[0082] like Figure 3 and Figure 4As shown, each manipulator 240 includes: a proximal link assembly 261 including a proximal arm 241 coupled to a track assembly 220 via one or more proximal joints 230 and a carriage 226; an intermediate link assembly 262 including an intermediate arm 242 coupled to a distal portion of the proximal link assembly 261 via one or more intermediate joints 245; and a distal link assembly 263 including a distal arm 243 coupled to the intermediate link assembly 262 via one or more distal joints 246. The distal link assembly 263 also includes an instrument holding portion 269 coupled to the distal arm 243 and configured to support the instrument, for example... Figure 1 The device 150 shown. Each of the proximal link assembly 261, the intermediate link assembly 262, and the distal link assembly 263 includes a status indicator 270 disposed thereon.

[0083] Figure 5 It is based on and Figure 3 A side view of a similarly configured manipulator 240_3, wherein the status indicator 270 is arranged in a strip along one or more of the links or joints of the manipulator 240_3. Figures 3 to 5 The status indicator 270 in any of them may be set on one or more links, two or more links, and may also be set on one or more joints or two or more joints of the manipulator 240. Figures 3 to 5 Each of the manipulators 240 includes two proximal joints 230 and associated joint housings 264 and 265. In some embodiments, the manipulator 240 may have a single proximal joint.

[0084] In the example, the manipulator 240 may have a corresponding indication system comprising status indicators 270 disposed on two or more links, two or more joints, links and joints, or any combination of links and joints desired or required for a given application. Each of the status indicators 270 can provide an indication of the aseptic status of the corresponding link or joint (or a portion thereof). The aseptic status indication can inform the user whether the link or joint is sterile, allowing the user to know whether manual movement or positioning of the link or joint would violate aseptic protocols.

[0085] Status indicator 270 can provide indications of whether a link or joint (or part thereof) has come into contact with an object or user, has entered a non-sterile area, has approached a non-sterile area, is ready to be physically manipulated, and / or other conditions related to sterility. Status indicator 270 may include one or more LEDs, tactile output devices (e.g., actuators, motors, gyroscopes, etc.), speakers, or other sensory output devices. Status indicator 270 can provide various indications of sterility and other states via signals of various methods and types. In embodiments where status indicator 270 includes LEDs, the LEDs can provide status indication via flashing patterns, being on or off, via color (e.g., green for sterility, red for non-sterile, etc.), via brightness levels, or via a digital display utilizing LEDs. In embodiments where a sterility protocol defines a gradient of sterility risk, each sterility value may correspond to a different LED intensity and / or color. For example, a portion associated with a higher non-sterile risk may be brighter and redder than an area associated with a lower non-sterile risk.

[0086] Additionally, in some embodiments, the status indicator 270 may include a speaker and audio output device configured to output beeps or sound patterns and voice messages. As another example, a display unit or user interface, such as... Figure 1 The display unit or user interface (e.g., monitor, computer, tablet, touch screen, etc.) of the user input and feedback system 1004 can be configured to provide a sterile state for parts or components of the manipulator 240.

[0087] Control systems, for example Figure 1 The control system 1006 can communicate with the indication system of the manipulator 240 to cause the status indicator 270 to provide indications of the various states described herein. The control system can be configured to control the indication system so that the status indicator 270 provides an indication of the sterility status of a portion of each corresponding link on the manipulator 240, wherein each corresponding link corresponds to one or more LEDs of the status indicator 270. Additionally, as previously described, the control system can be configured to control the output of one or more status indicators 270 (including tactile and audio output devices) to provide sterility status indications via tactile or audio output. The control system can also be configured to cause the status indicators 270 disposed on or associated with various joints of the manipulator to provide a sterility status of one or more joints. Furthermore, the control system 1006 can communicate with one or more display units or user interfaces of the user input and feedback system 1004 to provide status indications via one or more display units.

[0088] like Figure 5As shown, the indicator system may include an instrument holding portion status indicator 300 disposed along the instrument holding portion 269, a distal status indicator 302 disposed along the distal arm 243, an intermediate status indicator 305 disposed along the intermediate arm 242, and a proximal status indicator 308 disposed along the proximal arm 241. In an embodiment, the manipulator 240 may also include status indicators 270 at various joints 245, 246, and 247. Status indicators 270 may provide indication of the entire linkage; for example, the distal status indicator 302 may provide indication of the sterility status of the entire distal arm 243, or the status indicator 270 may provide indication of the status of a portion of the linkage. For example, the intermediate status indicator 305 may provide a first sterility status indication at a first portion 305a of the intermediate linkage 242, a second sterility status indication at a second portion 205b, and a third sterility status indication at a third portion 205c. Therefore, the status indicator can indicate that the first part 205a and the third part 205c are sterile, while the second part 205b is non-sterile. Alternatively, in another example, the status indicator can provide the following indication: the first part 205a is sterile, the second part 205b has entered an area near a non-sterile region and is identified as potentially non-sterile, and the third part 305c is non-sterile. Furthermore, the status indicator 270 for the second part 305b can indicate that the second part 305b has collided with or come into contact with an object or user, while the status indicators 270 for the first part 305a and the third part 305c can indicate that the first part 305a and the third part 305c have not come into contact with any object or user. Additionally, various status indicators 270 disposed on the distal arm 243, the intermediate arm 242, and / or the proximal arm 241, or portions thereof, can indicate whether the arm, link, joint, or portion thereof is ready to be manually positioned or repositioned by a user, operator, or clinician.

[0089] To determine whether the manipulator 240 or a portion thereof is ready to be manually positioned or repositioned, the control system 1006 may determine the readiness of the arm and / or a portion thereof based on its sterility status. For example, the control system 1006 may determine the readiness status of an arm, joint, link, or portion of the manipulator 240 based on the sterility status of two or more links. The status indicator 270 of the repositionable structure portion (e.g., arm, link, joint, etc.) may then provide an indication of whether the corresponding part or portion of the manipulator 240 is ready to be manually positioned based on the determined readiness status. For example, if the sterility status of a portion of the manipulator 240 is determined to be sterile, the control system 1006 may determine the readiness status of the corresponding portion of the manipulator 240 as "ready." Conversely, if the sterility status of a portion of the manipulator 240 is determined to be non-sterile, the control system 1006 may determine the readiness status of the corresponding portion of the manipulator 240 as "not ready."

[0090] In some implementations, the control system 1006 may monitor data of objects within the OR to detect contact between the objects and the manipulator 240. The control system 1006 may detect contact by monitoring kinematic data, image data, contact sensor data, proximity sensor data, and / or other types of data indicating contact between the manipulator 240 and an object (e.g., a person, machinery, another manipulator 240, etc.).

[0091] In response to detected contact, the control system 1006 may attempt to determine the sterility status of the contacted object. For objects tracked by the control system 1006 (e.g., other manipulators 240), the control system 1006 may determine the status as the sterility status assigned to the object when implementing this technology. For other objects, the sterility status may be more difficult to determine. Therefore, the sterility status of the contacted portion of the manipulator 240 may also be unknown.

[0092] Based on an assessment of the sterility of the object, the control system 1006 can change the sterility value of the contacted portion, thereby updating the indication system corresponding to the contacted portion to an indication mode associated with the new sterility state. For example, if the object has a known sterility value and / or state, the control system 1006 can assign the same sterility value and / or state to the portion as the object. If the object has an unknown sterility state, the control system 1006 can assign the portion a sterility state indicating uncertainty. If the object is known to be sterile (or has a lower non-sterile risk than the contacted portion), the control system 1006 may not change the sterility value and / or state of the portion. It should be understood that contact can cause a more distal portion of the manipulator 240 to have a higher non-sterile risk than a more proximal portion of the manipulator 240.

[0093] It should be understood that in some manipulator systems 200, the manipulator draws power from a battery or other energy storage device to avoid wired connections in the OR that could interfere with the execution of the process. Therefore, in some embodiments, the control system 1006 may implement one or more power-saving techniques to reduce energy usage associated with the indication system and maximize the amount of time the manipulator 240 can be used during the process. As an example, the control system 1006 may disable the indication system when the manipulator 240 will not be manually operated. Thus, less energy is spent on sterility indication when the operator does not need to know the sterility status of the manipulator 240 (and / or portions thereof). Alternatively, because in many situations the nearest portion can be assumed to be non-sterile and the farthest portion can be assumed to be sterile, the control system 1006 may disable only the farthest and nearest portions when the manipulator 240 will not be manually operated, ensuring that the sterility status of the intermediate portions is still indicated to the operator.

[0094] Figure 6 This is an example flowchart of an example method 600 for providing a sterile state in a computer-aided manipulator system, based on some examples. This example method 600 is, for example, composed of... Figures 1 to 5 The system executes the manipulator of any of the following. According to some examples, method 600 can be used to provide a sterile state for one or more elements of a manipulator (e.g., manipulator 140 or 240) or a computer-aided system for performing treatment on a patient or for performing a medical procedure. Example systems for executing method 600 may include a repositionable structure, such as manipulator 240, having two or more links coupled via one or more joints (e.g., via proximal joint 230, intermediate joint 245, and / or distal joint 246), such as proximal link assembly 261, intermediate link assembly 262, and / or distal link assembly 263. Each of the two or more links may include a corresponding indicating system having one or more status indicators 270. The system also includes a controller, such as... Figure 1 The control system 1006 is operatively coupled to the repositionable structure to control various links, joints and status indication systems, thereby controlling the position and movement of the components of the repositionable structure, and controlling the indication systems to provide indications of status (e.g., sterile state, non-sterile state, movable state, etc.) via status indicators.

[0095] Method 600, at block 602, includes obtaining kinematic data indicating the position of two or more links relative to a sterile boundary. The kinematic data may include data indicating the current position, past position, or planned future position of the two or more links. Additionally, the kinematic data may include data indicating the positioning or movement of the two or more links into a non-sterile area or within a sterile space. The kinematic data may also indicate whether the two or more links or any joints have contacted an object or person. A processor or controller may be available from one or more sensors or from a feedback system (e.g., [missing information]) communicating with various components of the repositionable structure's links and joints. Figure 1 The user input and feedback system 1004 obtains kinematic data. The kinematic data may include two-dimensional or three-dimensional spatial data to identify the position and movement of various links and joints of the repositionable structure, and specifically, with reference to one or more sterile boundaries, such as sterile boundaries 280, 285 and 288.

[0096] Kinematic data may include data indicating the relative position and movement of links and / or arms of a repositionable structure relative to a sterile boundary. A sterile boundary defines the boundary between spatial areas considered sterile and those not considered sterile. For example, a sterile boundary may define spatial areas above the height of a table or bed (e.g., Figure 2A Platform components and Figure 2C Area 290 (shown in the diagram) is classified as sterile, while any area below the height of the bed (e.g., areas 282, 287, and 289) is classified as non-sterile. The sterile boundary is the boundary between sterile and non-sterile areas, as shown in the diagram. Figure 2C Boundaries 280, 285, and 288 are shown in the diagram. Additionally, if an area is too close to a vent or ceiling, outside the sterile three-dimensional space surrounding a platform assembly, near the floor, near other installations, or around an individual, a sterile boundary can define that area as non-sterile. A sterile boundary can be defined relative to a bed, wall, ceiling, individual, object, or any other structure. In the example, the sterile area can be defined by the user and can be defined via… Figure 1 The user input and feedback system 1004 provides an interface for this. The aseptic boundary can be a dynamic boundary that changes based on the movement of people and / or objects during the process or operation. For example, the aseptic boundary can be defined relative to the height of the bed or table of the platform component, and the bed can be raised and lowered during operation, thus the aseptic boundary can dynamically rise and fall according to the changing height of the bed or table.

[0097] At block 604, the controller determines the aseptic state associated with two or more links and / or joints of the repositionable structure based on kinematic data. The controller or another processor can determine the aseptic state for each link and / or joint of the repositionable structure. For example, the controller can determine that a distal link has crossed a non-sterile area, while a proximal link of the same repositionable structure has not crossed or been positioned in a non-sterile area. Therefore, the controller determines the state of the distal link as non-sterile and the state of the proximal link as sterile. Additionally, the controller can determine the aseptic state of any link and / or joint based on whether the link or joint has come into contact with a non-sterile user or object.

[0098] In this implementation, multiple sterility boundaries can define multiple sterile and non-sterile spatial regions. Each non-sterile spatial region can independently have a corresponding sterility level. For example, some regions can be identified as sterile, and non-sterile regions can have a non-sterile or risk level. In other examples, a single sterility boundary can define a continuous gradient that associates non-sterile regions with corresponding sterility levels based on distance from the sterility boundary. In either case, the risk level can include a numerical level from 1 to 5, where 5 is the highest risk or least sterile, and 1 is the lowest risk or least considered non-sterile. As an example, a non-sterile region can be defined as a space area under the bed of a platform component, where the risk level is lower near the bed and higher near the floor of the operating area. The controller can determine the sterility status of one or more links or joints or portions thereof based on the sterility level of each link and / or joint or portion thereof. The controller can then control an indication system for the individual links and / or joints or portions thereof to provide indication for each corresponding sterility level.

[0099] At block 606, the controller controls status indicators to provide status indications for two or more links and / or joints or portions thereof of a repositionable structure. As described above, the controller can cause the indication system to provide indications of aseptic status or other types of status, such as whether a link and / or joint or portion thereof has been in contact with a user or object, or a positioning-ready state where a link or joint is ready to be manually positioned or repositioned. The controller can control LEDs, haptic devices, or audio output devices to provide status indications via visual flashing patterns, LED brightness, color, digital or character displays, audible patterns, vibration output, etc. The controller can control a single status indicator or multiple status indicators to provide indications of a link, joint, portion of a link, or portion of a joint.

[0100] One or more components of the embodiments discussed in this disclosure (e.g., control system 1006) may be implemented in software to execute on one or more processors of a computer system. The software may include code that, when executed by one or more processors, configures the processors to perform the various functions discussed herein. The code may be stored in a non-transitory computer-readable storage medium (e.g., memory, magnetic storage device, optical storage device, solid-state storage device, etc.). The computer-readable storage medium may be part of a computer-readable storage device, such as electronic circuitry, a semiconductor device, a semiconductor memory device, a read-only memory (ROM), flash memory, an erasable programmable read-only memory (EPROM), a floppy disk, a CD-ROM, an optical disk, a hard disk, or other storage device. The code may be downloaded to the computer-readable storage medium for storage via a computer network such as the Internet, an intranet, etc. The code may be executed by any of a variety of centralized or distributed data processing architectures. The programming instructions of the code may be implemented as multiple separate programs or subroutines, or they may be integrated into multiple other aspects of the system described herein. Components of the computing system discussed herein may be connected using wired and / or wireless connections. In some examples, wireless connectivity can use wireless communication protocols such as Bluetooth, Near Field Communication (NFC), Infrared Data Association (IrDA), Home RF, IEEE 802.11, Digital Enhanced Cordless Telecommunications (DECT), and Wireless Medical Telemetry Service (WMTS).

[0101] Various general-purpose computer systems can be used to perform one or more processes, methods, or functions described herein. Additionally or alternatively, various special-purpose computer systems can be used to perform one or more processes, methods, or functions described herein. Furthermore, various programming languages ​​can be used to implement one or more processes, methods, or functions described herein.

[0102] While certain implementations and examples have been described above and shown in the accompanying drawings, it should be understood that these implementations and examples are merely exemplary and not limited to the specific constructions and arrangements shown and described, as various other alternatives, modifications and equivalents will be understood by those skilled in the art.

Claims

1. A computer-aided system for indicating aseptic status, the system comprising: A repositionable structure configured as a support device, the repositionable structure comprising two or more links coupled via one or more joints, wherein each of the two or more links includes a corresponding indicating system; and A control system, operatively coupled to the repositionable structure, is configured to: Obtain kinematic data indicating the position of each of the two or more links relative to the sterility boundary; The aseptic state associated with the two or more links is determined based on the kinematic data; and Configure corresponding indication systems for the two or more links to provide indications of the sterility status of the respective links among the two or more links.

2. The computer-aided system according to claim 1, wherein, The sterility boundary is defined at least in part by the height of the platform.

3. The computer-aided system according to claim 2, wherein, The sterility boundary is a dynamic boundary that adjusts in response to changes in the height of the stage.

4. The computer-aided system according to claim 1, wherein, The sterility boundary defines the sterility risk gradient corresponding to different sterility levels.

5. The computer-aided system according to claim 4, wherein, To limit the sterility risk gradient, the control system is configured to: Multiple sterility boundaries are defined, each defining a sterile region with a different sterility level.

6. The computer-aided system according to claim 4, wherein, To limit the sterility risk gradient, the control system is configured to: A continuous sterility grade gradient is defined across the spatial region relative to the sterility boundary.

7. The computer-aided system according to claim 4, wherein, To determine the sterility status, the control system is further configured to: The aseptic status is determined based on the different asepticity levels. The corresponding indication system is configured to provide an indication of the corresponding sterility level.

8. The computer-aided system according to claim 1, wherein, The sterility boundary is a user-defined boundary.

9. The computer-aided system according to claim 1, wherein, To determine the sterility state, the control system is configured to: Determine whether one or more parts of the repositionable structure have come into contact with an object or user.

10. The computer-aided system according to claim 9, wherein, To provide an indication of the sterility status, the controller is configured to: Detecting that one or more portions of the repositionable structure have come into contact with the object or the user; and Configure the corresponding indication system to provide an indication that one or more parts have been contacted by the object or the user.

11. The computer-aided system according to any one of claims 1 to 10, wherein, To determine the sterility state, the control system is configured to: Determine whether one or more portions of the repositionable structure are (i) sterile or (ii) non-sterile.

12. The computer-aided system according to any one of claims 1 to 10, wherein, The corresponding indication system includes: A plurality of light-emitting diodes (LEDs) are arranged along the length of the two or more links, the LEDs being configured to provide an indication of the aseptic status of one or more portions of the respective links.

13. The computer-aided system according to claim 12, wherein, The plurality of LEDs are configured to indicate a sterile status via color indication, flashing on / off mode, brightness, or digital display.

14. The computer-aided system according to claim 12, wherein, The plurality of LEDs are configured to provide an indication of whether a portion of the repositionable structure is ready to be manually positioned or repositioned.

15. The computer-aided system according to claim 14, wherein, To provide an indication of whether a portion of the repositionable structure is ready to be manually positioned, the control system is further configured to: The readiness state of a portion of the repositionable structure is determined based on the aseptic state of the two or more links, and an indication of whether a portion of the repositionable structure is ready to be manually positioned is based on the readiness state.

16. The computer-aided system according to claim 15, wherein: If the sterility status of a portion of the repositionable structure is determined to be sterile, then the ready state is determined to be ready to be manually positioned or repositioned, and If the sterility status of a portion of the repositionable structure is determined to be non-sterile, then the readiness status is determined to be unready to be manually positioned or repositioned.

17. The computer-aided system according to claim 12, wherein, The plurality of LEDs are arranged in a strip along the length of the two or more links, or circumferentially arranged at different lengths along the length of the two or more links.

18. The computer-aided system according to claim 12, wherein: One or more portions of the respective links of the two or more links correspond to LEDs in the plurality of LEDs; and In order to configure the corresponding indicating systems of the two or more links to provide an indication of the aseptic status of the corresponding link among the two or more links, the control system is configured to: The corresponding indicator system is controlled by controlling a corresponding LED among the plurality of LEDs to provide an indication of the aseptic status of one or more portions of the corresponding link.

19. The computer-aided system according to any one of claims 1 to 10, wherein, The indicating system provides an indication of sterility status via tactile or audio output.

20. The computer-aided system according to any one of claims 1 to 10, further comprising: A display unit having a user interface, wherein the control system is configured to provide the aseptic state via the user interface.

21. The computer-aided system according to any one of claims 1 to 10, wherein, The corresponding indication system is configured to provide the aseptic status of one or more of the joints.

22. The computer-aided system according to any one of claims 1 to 10, further comprising a table assembly, the table assembly comprising: It is configured as a platform to support the body; as well as A track that can be coupled to the stage assembly, wherein the repositionable structure is physically coupled to the stage assembly via the track.

23. The computer-aided system according to any one of claims 1 to 10, further comprising a repositionable trolley, the repositionable trolley comprising a support body and a mounting component, wherein, The repositionable structure is physically coupled to the repositionable trolley via the mounting element.

24. A method for providing a sterility status in a computer-aided system, the computer-aided system being used to indicate a sterility status and comprising: A repositionable structure having two or more links coupled via one or more joints, wherein each of the two or more links includes a corresponding indicating system; and a control system operatively coupled to the repositionable structure, the method comprising: Obtain kinematic data indicating the position of the two or more links relative to the sterile boundary; The aseptic state associated with the two or more links is determined based on the kinematic data; and Configure corresponding indicating systems for the two or more links to provide indications of the sterility status of the two or more links.

25. The method according to claim 24, wherein, The sterility boundary is defined at least in part by the height of the platform.

26. The method of claim 25, wherein, The sterility boundary is a dynamic boundary that adjusts in response to changes in the height of the stage.

27. The method according to claim 24, wherein, The sterility boundary defines the sterility risk gradient corresponding to different sterility levels.

28. The method according to claim 27, wherein, The method further includes: The sterility risk gradient is defined by defining multiple sterility boundaries, each of which defines a sterile region with a different sterility level.

29. The method according to claim 27, wherein, To limit the sterility risk gradient, the method further includes: The control system defines a continuous sterility grade gradient across the spatial region relative to the sterility boundary.

30. The method according to claim 27, wherein, To determine the sterility status, the method further includes: The control system determines the sterility status based on the different sterility levels, and The corresponding indication system provides an indication of the sterility level.

31. The method according to claim 24, wherein, The sterility boundary is a user-defined boundary.

32. The method according to claim 24, wherein, Determining the sterility status includes: The control system determines whether one or more parts of the repositionable structure have come into contact with an object or user.

33. The method of claim 32, further comprising: Detecting that one or more portions of the repositionable structure have come into contact with the object or the user; as well as The indication system provides an indication that one or more parts have been contacted with the object or the user.

34. The method according to any one of claims 24 to 33, wherein, Determining the sterility status includes: The control system determines whether one or more parts of the repositionable structure are (i) sterile or (ii) non-sterile.

35. The method according to any one of claims 24 to 33, wherein, The corresponding indication system includes: A plurality of light-emitting diodes (LEDs) are arranged along the length of the two or more links, the LEDs being configured to provide an indication of the aseptic status of one or more portions of a respective link in the two or more links.

36. The method of claim 35, further comprising: The plurality of LEDs provide indication of the sterility status via color indication, flashing on / off mode, brightness or digital display.

37. The method of claim 35, further comprising: The plurality of LEDs provide an indication of whether a portion of the repositionable structure is ready to be manually positioned or repositioned.

38. The method according to claim 37, wherein, Providing an indication of whether a portion of the repositionable structure is ready to be manually positioned includes: determining the readiness state of the portion of the repositionable structure by the control system and based on the aseptic state of the two or more links, wherein the indication of whether a portion of the repositionable structure is ready to be manually positioned is based on the readiness state.

39. The method according to claim 38, wherein: If the sterility status of a portion of the repositionable structure is determined to be sterile, then the ready state is determined to be ready to be manually positioned or repositioned, and If the sterility status of a portion of the repositionable structure is determined to be non-sterile, then the readiness status is determined to be unready to be manually positioned or repositioned.

40. The method of claim 35, wherein, The plurality of LEDs are arranged in a strip along the length of the two or more links, or circumferentially arranged at different lengths along the length of the two or more links.

41. The method according to claim 35, wherein: One or more portions of the respective links of the two or more links correspond to LEDs among the plurality of LEDs; and Configuring the corresponding indicating systems of the two or more links to provide an indication of the sterility status of the corresponding link among the two or more links includes: The control system controls the corresponding indicator system by controlling the corresponding LED among the plurality of LEDs to provide an indication of the aseptic status of the one or more parts of the corresponding link.

42. The method according to any one of claims 24 to 33, further comprising: The indication system provides an indication of the sterility status via tactile output or audio output.

43. The method according to any one of claims 24 to 33, further comprising: The aseptic state is provided via a display unit having a user interface operatively coupled to the control system.

44. The method according to any one of claims 24 to 33, further comprising: The aseptic status of one or more of the joints is provided by the corresponding indication system.

45. The method according to any one of claims 24 to 33, wherein, The computer-aided system further includes a station component, the station component comprising: A platform configured to support the body; and A track that can be coupled to the stage assembly, wherein the repositionable structure is physically coupled to the stage assembly via the track.

46. ​​The method according to any one of claims 24 to 33, wherein, The computer-aided system also includes a repositionable trolley, which includes a support body and a mounting component, wherein the repositionable structure is physically coupled to the repositionable trolley via the mounting component.

47. A computer-readable medium storing instructions that, when executed by a processor, cause a system to perform the method according to any one of claims 24 to 46.

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