Control of device including mechanical arms
AssigneeMemic Innovative Surgery Ltd.
InventorsDvir Cohen, Eli Shapira
Life of this patent
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Abstract
A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.
Claims22
A method of providing feedback during surgery to a user controlling, via an input device, motor-actuated-movement of a surgical device limb, the surgical device limb comprising at least two spaced apart joints, said method comprising:
- introducing said surgical device limb into the body through an incision or a natural body orifice such that said at least two spaced apart joints are inside the body;
- controlling movement of said at least two spaced apart joints, when inside the body, via said input device;
- identifying one or more disallowed anatomical regions in the patient's body in which movement of said surgical device limb should be avoided;
- calculating a position of at least one of said two spaced apart joints with respect to said one or more disallowed anatomical regions based on at least one of:
- data obtained by position sensors, data obtained from captured images, and motor control signals;
- wherein said calculating is not based on contact with tissue of said one or more disallowed anatomical regions;
- and
- upon said user attempting movement of at least one of said joints of said surgical device limb to said one or more disallowed anatomical regions, providing feedback to said user via said input device, said feedback including at least one of force feedback, visual feedback, and audible feedback.
A surgical system comprising:
- a surgical device sized and shaped for insertion into a human body through an incision or a natural body orifice, said surgical device comprising at least one articulated limb, said limb comprising a plurality of sequentially coupled surgical device portions defining at least two spaced apart joints;
- an input device, comprising at least one articulated limb, said limb comprising a plurality of sequentially coupled input device portions;
- said input device configured to control motor-actuated movement of said at least two spaced apart joints of said surgical device when said at least two spaced apart joints are inside the body;
- a memory which stores one or more boundary lines defining one or more anatomical regions in which movement of each of said sequentially coupled surgical device portions is allowed;
- and
- a controller which limits movement of one or more portions of said surgical device articulated limb based on said one or more stored boundary lines and based on a position of at least one of said two spaced apart joints, said position calculated based on at least one of:
- data obtained by position sensors, data obtained from captured images, and motor control signals.
Dependencies are inferred from the claim text.