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.
Claims21
A method of providing feedback during surgery to a user controlling, via an input device, movement of a surgical device limb, the surgical device limb comprising at least two spaced apart joints, said method comprising:
- identifying one or more disallowed anatomical regions in the patient's body in which movement of said surgical device limb should be restricted or avoided;
- said identifying based on calculation of a position and not on contact with tissue;
- 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, audible feedback.
A surgical system comprising:
- a surgical device sized and shaped for insertion into a human body comprising at least one articulated limb, which limb comprises a plurality of sequentially coupled surgical device portions defining at least two spaced apart joints;
- an input device, comprising at least one articulated limb, which limb comprises a plurality of sequentially coupled input device portions;
- a controller which controls movement of one or more portion of the surgical device articulated limb based on movement of at least one portion of the input device limb;
- and
- 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.
Dependencies are inferred from the claim text.