Touch-free catheter user interface controller
AssigneeHansen Medical, Inc.
InventorsKamini Balaji, Sean Paul Walker, Serena H. Wong, June Park, Richard Henderson
Life of this patent
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Abstract
A command interpreter is in communication with a wireless controller. The command interpreter is configured to identify a reference location of the wireless controller, identify a second location of the wireless controller, and determine, based on the reference location and the second location, a sequence of instrument commands configured to adjust positioning of the instrument device.
Claims13
A system configured to receive a user input and command operation of a robotic instrument driver based on the user input, the system comprising:
- a wireless controller for receiving a user input, the wireless controller comprising:
- a first body element including a first location measurement device,
- a second body element including a second location measurement device,
- a flexible connection physically connecting the first body element to the second body element while providing for movement of the first body element relative to the second body element in six degrees of freedom, and
- a wireless transmitter configured to provide location information from the first location measurement device and the second location measurement device;
- and
- a command interpreter in wireless communication with the wireless controller, the command interpreter configured to:
- identify a reference location of the first body element relative to the second body element from first location information received from the wireless controller,
- identify a second location of the first body element relative to the second body element from second location information received from the wireless controller,
- detect, based on the reference location and the second location, motion of the first body element relative to the second body element, and
- determine, based on the motion of the first body element relative to the second body element, a sequence of instrument commands configured to adjust a position or orientation of an instrument in accordance with the user input.
A method of translating a user input into a command for a robotic instrument driver, the method comprising:
- receiving a user input at a wireless controller, the wireless controller comprising a first body element, a second body element, and a flexible connection physically connecting the first body element to the second body element while providing for movement of the first body element relative to the second body element in six degrees of freedom;
- identifying, by a command interpreter in wireless communication with the wireless controller, a reference location of the first body element relative to the second body element;
- identifying, by the command interpreter, a second location of the first body element relative to the second body element,
- detecting, based on the reference location and the second location, motion of the first body element relative to the second body element, and
- determining, based on the motion of the first body element relative to the second body element, a sequence of instrument commands for commanding an instrument driver to adjust at least one of instrument rotation, instrument articulation angle, or instrument insertion amount of an instrument.
Dependencies are inferred from the claim text.