# US 2018/0025666 A1 · System with emulator movement tracking for controlling medical devices

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- Number: US 2018/0025666 A1
- Document ID: US20180025666A1
- Status: Published application
- Kind: A1
- Application number: 15/657,051
- Filed: 2017-07-21
- Published: 2018-01-25
- Earliest claimed: 2016-07-21
- Assignees: Auris Surgical Robotics, Inc.
- Applicants: Auris Surgical Robotics, Inc.
- Inventors: Michael Shyh-Yen Ho; David S. Mintz; Edward Joseph Menard; Mark A. Lown; Jason Tomas Wilson; Yanan Huang
- Web page: https://patentgrep.com/patent/US20180025666A1

## CPC

- G09B 23/28: for medicine
- A61B 34/30: Surgical robots
- A61B 34/35: for telesurgery
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- A61B 90/50: Supports for surgical instruments, e.g. articulated arms
- G09B 5/02: with visual presentation of the material to be studied, e.g. using film strip
- G09B 9/00: Simulators for teaching or training purposes (for the use of weapons F41; computing aspects G06; {protocols for games, networked simulations or virtual reality H04L67/131})
- A61B 2017/00207: {with hand gesture control or hand gesture recognition}
- A61B 2034/741: {Glove like input devices, e.g. "data gloves"}
- A61B 2090/508: {with releasable brake mechanisms}
- A61B 2090/571: {for clamping a support arm to a bed or other supports}
- G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B)
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

The systems and methods disclosed herein are directed to robotically controlling a medical device to utilize manual skills and techniques developed by surgeons. The system may comprise an emulator representing a medical device. The system may comprise at least one detector configured to track the emulator. The system may further comprise an imaging device configured to track the medical device. The system may be configured to move the medical device to reduce an alignment offset between the location of the emulator and the location of the medical device, to move the imaging device based on the translational movement of the emulator, and/or to move the medical device based on data indicative of an orientation of the emulator.

## Claims

### Claim 1

A system, comprising:
an emulator configured to be held and operated in a free working space (FWS), the emulator representing a medical device at a target site;
at least one detector configured to track the emulator within the FWS;
at least one computer-readable memory having stored thereon executable instructions; and
at least one processor in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to:
determine an alignment offset between a location of the emulator and a location of the medical device;
during a medical procedure, determine a first movement amount based on a signal from the at least one detector indicative of a first movement of the emulator within the FWS;
adjust the first movement amount by a first adjustment value; and
generate instructions to move the medical device based on the adjusted first movement amount, wherein the movement of the medical device by the adjusted first movement amount reduces the alignment offset between the location of the emulator and the location of the medical device.

### Claim 2 (depends on 1)

The system of claim 1, wherein the at least one processor is configured to execute the instructions to cause the system to:
during the medical procedure, determine a second movement amount based on a signal from the at least one detector indicative of a second movement of the emulator within the FWS;
adjust the second movement amount by a second adjustment value; and
generate instructions to move the medical device based on the adjusted second movement amount, wherein movement of the medical device by the adjusted second movement amount reduces the alignment offset between the location of the emulator and the location of the medical device.

### Claim 3 (depends on 2)

The system of claim 2, wherein movement of the medical device by the adjusted first and second movement amounts eliminates the alignment offset between the location of the emulator and the location of the medical device.

### Claim 4

A system, comprising:
an emulator configured to be held and operated in a free working space (FWS), the emulator representing a medical device at a target site;
at least one detector configured to track the emulator within the FWS;
an imaging device configured to track the medical device at the target site;
at least one computer-readable memory having stored thereon executable instructions; and
at least one processor in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to:
receive a signal from the at least one detector indicative of a translational movement of the emulator within the FWS; and
generate instructions, based on the translational movement of the emulator, to move the imaging device within a plane defined by pitch and yaw axes of the imaging device.

### Claim 5 (depends on 4)

The system of claim 4, wherein the translational movement of the emulator does not result in a translational movement of the medical device.

### Claim 6 (depends on 4)

The system of claim 4, wherein the at least one processor is configured to execute the instructions to cause the system to:
receive a signal from the at least one detector indicative of a rotational movement of the emulator within the FWS; and
generate instructions, based on the rotational movement of the emulator, to rotate the medical device along a roll axis of the medical device.

### Claim 7 (depends on 6)

The system of claim 6, wherein the rotational movement of the emulator does not result in a rotational movement of the imaging device.

### Claim 8

A system, comprising:
an emulator representing a medical device at a target site;
a first set of one or more detectors configured to track the emulator;
a second set of one or more detectors configured to track the medical device at the target site;
at least one computer-readable memory having stored thereon executable instructions; and
at least one processor in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to:
receive, from the first set of one or more detectors, first data indicative of at least an orientation of the emulator, the first data comprising roll data, pitch data, and yaw data of the emulator;
generate, based on a clutched user input, instructions to move the medical device based on the first data discounting the roll data of the emulator; and
cause the medical device to move based on the instructions.

### Claim 9 (depends on 8)

The system of claim 8, wherein:
the emulator is configured to be held and operated in a free working space (FWS); and
the first set of one or more detectors is configured to track motion of the emulator in the FWS.

### Claim 10 (depends on 8)

The system of claim 8, wherein:
the emulator comprises a mechanical emulator; and
the first set of one or more detectors is configured to track mechanical movement of the emulator.

### Claim 11 (depends on 8)

The system of claim 8, wherein the discounting of the roll data of the emulator is based on decoupling a roll axis of the emulator from yaw and pitch axes of the emulator.

### Claim 12 (depends on 8)

The system of claim 8, wherein the discounting of the roll data of the emulator is based on decoupling an absolute roll angle of the medical device from an absolute roll angle of the emulator.

### Claim 13 (depends on 8)

The system of claim 8, wherein the emulator is symmetric with respect to a roll axis of the emulator.

### Claim 14 (depends on 8)

The system of claim 8, wherein the emulator is asymmetric with respect to a roll axis of the emulator.

### Claim 15 (depends on 8)

The system of claim 8, wherein the movement of the medical device based on the instructions facilitates adjustment of a roll axis of the emulator with respect to a roll axis of the medical device.

### Claim 16 (depends on 15)

The system of claim 15, wherein:
the at least one processor is configured to execute the instructions to cause the system to receive, from the second set of one or more detectors, second data indicative of an orientation of the medical device at the target site, the second data comprising roll data, pitch data, and yaw data of the medical device; and
the alignment of the respective roll axes of the emulator and the medical device is based on the pitch and yaw data of the emulator and the pitch and yaw data of the medical device.

### Claim 17 (depends on 16)

The system of claim 16, wherein the at least one processor is configured to execute the instructions to cause the system to:
receive, from the first set of one or more detectors, third data indicative of a translational movement of the emulator;
receive, from the second set of one or more detectors, fourth data indicative of a position of the medical device at the target site; and
generate instructions to move the medical device based on the third and fourth data.