최소 단어 이상 선택하여야 합니다.
최대 10 단어까지만 선택 가능합니다.
다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
NTIS 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
DataON 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Edison 바로가기다음과 같은 기능을 한번의 로그인으로 사용 할 수 있습니다.
Kafe 바로가기국가/구분 | United States(US) Patent 등록 |
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국제특허분류(IPC7판) |
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출원번호 | US-0753575 (2015-06-29) |
등록번호 | US-9956044 (2018-05-01) |
발명자 / 주소 |
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출원인 / 주소 |
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인용정보 | 피인용 횟수 : 0 인용 특허 : 276 |
To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its con
To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.
1. A method of assisting a user of a system to retract an articulated instrument having a plurality of rotary joints into an entry guide by a processor automatically commanding the plurality of rotary joints to be actuated so as to change from a deployed state in which the articulated instrument can
1. A method of assisting a user of a system to retract an articulated instrument having a plurality of rotary joints into an entry guide by a processor automatically commanding the plurality of rotary joints to be actuated so as to change from a deployed state in which the articulated instrument cannot be fully retracted into the entry guide to an entry state in which the articulated instrument is fully retractable into the entry guide, the method comprising: receiving, at the processor, an indication of a user initiated retraction command to move a proximal portion of the articulated instrument, relative to a distal end of the entry guide, along a straight line from within a patient body into the entry guide; andin response to receiving the indication of the user initiated retraction command, automatically commanding, by the processor, actuation of the plurality of rotary joints of the articulated instrument so as to change from the deployed state to the entry state prior to the articulated instrument being fully retracted into the entry guide from within the patient body. 2. The method according to claim 1, further comprising: receiving, at the processor, information of the states of the plurality of rotary joints of the articulated instrument, the plurality of rotary joints including a most proximal, relative to the distal end of the entry guide, rotary joint that is outside of the entry guide;determining, by the processor, whether the most proximal rotary joint of the articulated instrument is within a threshold distance to the distal end of the entry guide while the articulated instrument is being retracted into the entry guide from within the patient body;on the condition that the most proximal rotary joint of the articulated instrument is not within the threshold distance to the distal end of the entry guide, then automatically commanding, by the processor, actuation of the plurality of rotary joints of the articulated instrument so as to change from the deployed state to the entry state while the articulated instrument is being retracted into the entry guide from within the patient body; andon the condition that the most proximal rotary joint of the articulated instrument is within the threshold distance to the distal end of the entry guide, then automatically commanding, by the processor, the articulated instrument to be inhibited from being retracted into the entry guide from within the patient body while commanding actuation of the plurality of rotary joints of the articulated instrument to change from the deployed state to the entry state. 3. The method according to claim 2, further comprising: automatically commanding, by the processor, a distal tip of the articulated instrument to be inhibited from moving in an opposite direction than a direction being commanded by the retraction command until the most proximal rotary joint of the articulated instrument is within the threshold distance to the distal end of the entry guide. 4. The method according to claim 3, further comprising: automatically commanding, by the processor, haptic feedback to be provided to the user, the haptic feedback being proportional to a difference between the deployed state of the plurality of rotary joints of the articulated instrument and the entry state. 5. The method according to claim 1, further comprising: receiving, at the processor, information indicative of a spatial relationship between the articulated instrument and an object; andautomatically commanding, by the processor, actuation of the plurality of rotary joints of the articulated instrument so as to avoid collisions between the articulated instrument and the object while commanding actuation of the plurality of rotary joints of the articulated instrument so as to change from the deployed state to the entry state. 6. The method according to claim 1, further comprising: automatically commanding, by the processor, actuation of a rotary joint of the articulated instrument which is disposed within the entry guide so that a portion of the articulated instrument that is disposed within the entry guide conforms to bending of the entry guide. 7. The method according to claim 1, wherein the articulated instrument has a pair of jaws at a distal end of the articulated instrument, and further comprising: automatically commanding, by the processor, the pair of jaws to be moved into a closed position in coordination with commanding actuation of the plurality of rotary joints of the articulated instrument so as to change from the deployed state to the entry state. 8. The method according to claim 1, wherein the articulated instrument has a pair of jaws at a distal end of the articulated instrument, and further comprising: receiving, at the processor, information indicative of a spatial relationship between the pair of jaws and a distal end of the entry guide; andautomatically commanding, by the processor, the pair of jaws to be moved into a closed position, independently of the commanding of the actuation of the plurality of rotary joints of the articulated instrument so as to change from the deployed state to the entry state, by starting to command the pair of jaws to be closed only after the pair of jaws is retracted to a threshold distance from the distal end of the entry guide. 9. The method according to claim 1, wherein the articulated instrument has a pair of jaws at a distal end of the articulated instrument, and further comprising: receiving, at the processor, information indicative of a spatial relationship between the pair of jaws and a distal end of the entry guide; andautomatically commanding, by the processor, the pair of jaws to be moved into a closed position, independently of the commanding of the actuation of the plurality of rotary joints of the articulated instrument so as to change from the deployed state to the entry state, by allowing an actuator actuating the pair of jaws to be back-driven into the closed position in response to a force exerted on the pair of jaws as the pair of jaws make physical contact with the distal end of the entry guide. 10. The method according to claim 1, further comprising: receiving, at the processor, an indication of a user initiated insertion command to translationally move a distal end of the articulated instrument away from a distal end of the entry guide after the distal end of the articulated instrument has been retracted back towards the distal end of the entry guide from an initial pose within the patient body; andin response to receiving the indication of the user initiated insertion command, automatically commanding, by the processor, the distal end of the articulated instrument to be placed back into the initial pose within the patient body by commanding actuation of the plurality of rotary joints of the articulated instrument while the distal end of the articulated instrument is being translationally moved away from the distal end of the entry guide in response to the insertion command. 11. The method according to claim 1, further comprising: receiving, at the processor, an indication of a user initiated insertion command to translationally move a distal end of a second articulated instrument away from a distal end of the entry guide into the patient body after the articulated instrument has been fully retracted into the entry guide and replaced with the second articulated instrument; andin response to the received indication of the user initiated insertion command, automatically commanding, by the processor, actuation of a second plurality of rotary joints of the second articulated instrument so as to be placed in the deployed state of the articulated instrument as the distal end of the second articulated instrument is translationally moved into the patient body in response to the user initiated insertion command. 12. The method according to claim 1, wherein the plurality of rotary joints includes a most proximal, relative to the distal end of the entry guide, rotary joint that is outside of the entry guide, and further comprising: automatically commanding, by the processor, a sensory indication to be provided to the user that indicates at least one of a distance of the most proximal rotary joint of the articulated instrument from a distal end of the entry guide and a difference between a current state of the plurality of rotary joints of the articulated instrument and the entry state. 13. The method according to claim 1, wherein the user initiated retraction command includes commanding a second articulated instrument to translationally move along with the articulated instrument into the entry guide, and the method further comprising: in response to receiving the indication of the user initiated retraction command, automatically commanding, by the processor, actuation of a second plurality of rotary joints of the second articulated instrument so as to change from a deployed state in which the second articulated instrument is incapable of being fully retracted into the entry guide to an entry state in which the second articulated instrument is capable of being fully retracted into the entry guide. 14. The method according to claim 1, further comprising: automatically commanding, by the processor, a second articulated instrument to be held in place while the articulated instrument is being retracted into the entry guide from within the patient body in response to the user initiated retraction command. 15. The method according to claim 1, further comprising: commanding, by the processor, actuation of a second articulated instrument in response to manipulation of an associated input device while the articulated instrument is being retracted into the entry guide from within the patient body in response to the user initiated retraction command. 16. The method according to claim 1, further comprising: determining, by the processor, whether the system is in a retraction mode;wherein actuation of the plurality of rotary joints of the articulated instrument, so as to change from the deployed state to the entry state prior to the articulated instrument being fully retracted into the entry guide from within the patient body, is automatically commanded, by the processor, in response to receiving the indication of the user initiated retraction command only if the system is determined to be in the retraction mode. 17. The method according to claim 16, wherein determining, by the processor, whether the system is in a retraction mode comprises: determining that a state of the system has been switched by the user to the retraction mode by interacting with the system. 18. The method according to claim 1, wherein the user initiated retraction command is indicated by the user manually moving a part of a manipulator that causes the most proximal portion of the articulated instrument to be moved into the entry guide. 19. The method according to claim 1, wherein the user initiated retraction command is indicated by the user manipulating an input device that teleoperatively causes the most proximal portion of the articulated instrument to be moved into the entry guide.
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