AUTOMATIC MANIPULATOR ASSEMBLY DEPLOYMENT FOR DRAPING

• Main Authors: BROWN JEFFREY D, RAMSTAD CRAIG R, DIOLAITI NICOLA, GOMEZ DANIEL H, MCGROGAN ANTHONY K, HOLOP ROBERT E, MITRA PROBAL
• Format: Patent
• Language: English; Korean
• Published: 24.05.2022
• Subjects: DIAGNOSIS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MEDICAL OR VETERINARY SCIENCE; SURGERY

컴퓨터 보조 원격조작 수술 시스템에서의 컨트롤러는, 시스템의 부분의 드레이핑을 수월하게 하기 위해서 시스템의 부분에 대한 사용자 탭동작에 응답하여 시스템의 부분을 자동적으로 움직인다. 이는 드레이핑 과정을 빠르게 할 뿐만 아니라 멸균 수술용 드레이프가 시스템의 그 부분의 드레이핑 동안 손상되거나 오염되는 가능성을 줄여준다. Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.