Efficient brake boost for mechatronic articulable arm
AssigneeBrainlab AG
InventorsMohamed Ahmed Fouad Barakat, Nils Frielinghaus
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Abstract
Disclosed is a computer-implemented method of determining control data for increasing the braking force exerted by a braking mechanism of a mechatronic articulable arm on at least one or all joints connecting the arm elements of the mechatronic articulable arm to a level of braking force which is higher than the level required for locking the joint or joints, respectively. The control data is determined in dependence on both the relative position between the mechatronic articulable arm and an anatomical body part of patient, and a locking state of the mechatronic articulable arm.
Claims20
A computer-implemented medical method of determining control data for controlling a brake mechanism of a medical robotic system that comprises a mechatronic articulable arm including at least one joint, the method comprising
- acquiring, at a computer, body part position data describing a position of an anatomical body part of an associated patient;
- acquiring, at the computer and based on the body part position data, mechatronic arm position data, the mechatronic arm position data describing a relative position between the mechatronic articulable arm and the anatomical body part;
- and
- determining, by the computer and based on the mechatronic arm position data, brake modulation data, the brake modulation data describing at least one electronic control signal to be issued to the medical robotic system for increasing a braking force to be applied by a brake mechanism of the mechatronic articulable arm while the at least one joint is being kept in a locked state to a value larger than a locking force.
A non-transitory computer readable storage device storing a program which, when running on a computer or when loaded onto a computer, causes the computer to:
- acquire body part position data describing a position of an anatomical body part of an associated patient;
- acquire mechatronic arm position data based on the body part position data, the mechatronic arm position data describing a relative position between the mechatronic articulable arm and the anatomical body part;
- and
- determine brake modulation data based on the mechatronic arm position data, the brake modulation data describing at least one electronic control signal to be issued to a medical robotic system for increasing a braking force to be applied by a brake mechanism of the mechatronic articulable arm while the at least one joint is being kept in a locked state to a value larger than a locking force.
A medical robotic system, comprising:
- at least one computer;
- a body part tracking device operably associated with the at least one computer;
- an arm tracking device operably associated with the at least one computer;
- and
- a mechatronic articulable arm including at least one joint and a brake mechanism, the mechatronic articulable arm being operably associated with the at least one computer,
- the at least one computer being configured to:
- acquire body part position data describing a position of an anatomical body part of an associated patient from the body part tracking device;
- acquire mechatronic arm position data from the arm tracking device based on the body part position data, the mechatronic arm position data describing a relative position between the mechatronic articulable arm and the anatomical body part;
- determine brake modulation data based on the mechatronic arm position data, the brake modulation data describing at least one electronic control signal to be issued to the brake mechanism for increasing a braking force to be applied by the brake mechanism while the at least one joint is being kept in a locked state to a value larger than a locking force;
- and
- issue, to the mechatronic articulable arm and on the basis of the brake activation data, the at least one electronic control signal to cause the brake mechanism to be activated.
Dependencies are inferred from the claim text.