System and method for integrated surgical table motion

• Main Authors: SWARUP NITISH, ZIAEI KAM, GRIFFITHS PAUL G, ITKOWITZ BRANDON D
• Format: Patent
• Language: Chinese; English
• Published: 03.07.2020
• Subjects: CHAIRS FOR DENTISTRY; DIAGNOSIS; FUNERAL DEVICES; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; OPERATING TABLES OR CHAIRS; SURGERY; TRANSPORT OR ACCOMODATION FOR PATIENTS

A system and method for integrated surgical table motion are disclosed. A computer-assisted medical device includes a first articulated arm, the first articulated arm having an end effector, a first joint set, a second joint set and a control unit. The control unit configures one or more joints in the first joint set to a floating mode, detects movement to the first joint set caused by a movementof the surgical table, drives the second joint set based on the movement of the surgical table, receives a instrument motion command to move the end effector while the surgical table is moving, and moves the end effector based on the instrument motion command. In some embodiments, the instrument motion command is relative to an imaging coordinate frame. In some embodiments, the imaging coordinateframe is based on a pose of an imaging device saved prior to the movement of the surgical table. 一种用于集成的手术台运动的系统和方法，一种计算机辅助医疗设备包括第一铰接臂，该第一铰接臂具有末端执行器、第一关节组、第二关节组；以及控制单元。该控制单元将第一关节组中的一个或多个关节配置为浮动模式，检测由手术台的移动引起的第一关节组的移动，基于手术台的移动驱