The systems and methods disclosed herein are directed to control and operation of medical platforms, and more particularly to operation of mobility mechanisms and table top positioning functions of medical platforms, such as robotic surgical tables, mobile hospital beds, etc.
Medical platforms, such as surgical tables or hospital beds, can be used to support a patient during a medical procedure. User control of a medical platform is important in operating the medical platform, including control of a table top orientation of the medical platform for patient positioning and movement of the medical platform for transportation. Conventionally, mobility (e.g., transportation) of a medical platform requires one or more persons to push or maneuver the medical platform manually, which is slow and laborious, and has a large footprint. During surgical setup, table top orientation of a medical platform is optionally controlled via a physicians' console or using a bedside pendent. In some cases, positioning of the medical platform, including positioning of table top of the medical platform, is performed manually.
Conventionally, transportation of the medical platform and adjustment of the table top orientation are typically performed by different people, and require scheduling coordination and communication during handoff, which can be cumbersome, time-consuming, and costly for hospitals. In addition, because more people may be required to handle the laborious process of transportation and positioning of the medical platform, the space requirement for the pathways and surgical rooms is high; otherwise, safety of the patient on the medical platform may be compromised during transportation or positioning of the medical platform in a cramped space. For at least these reasons, there is a need for methods and devices that provide centralized user control of mobility mechanisms for transporting the medical platform and table top mechanisms for adjusting an orientation of a table top of the medical platform. Furthermore, there is a need for methods and devices that provide bedside control of the powered mobility and orientation adjustment functions of the medical platform, and easy switching between the powered mobility control and orientation adjustment by a single user located at the bedside of the medical platform.
Disclosed herein is a pendant (e.g., bedside pendant, pendant controller, handheld controller, input device, etc.) that allows a user to control both table top mechanisms and power-assisted mobility functions of the medical platform. Centralized control of the medical platform via the pendant allows a single user to seamlessly and effortlessly switch between operation of the medical platform in powered mobility mode (also referred to as bed control mode) (e.g., steering, driving, and transporting the medical platform as a whole) and in table top mode (also referred to as bed status mode) (e.g., orienting and positioning a table top of the medical platform into a desired pose). For example, a user may maneuver the medical platform down a hallway to a surgical suite using the pendant, adjust the position and orientation of the bed in the surgical suite relative to other equipment or personnel in the surgical suite; and after the medical platform is in place, use the pendant to change a position and/or orientation of the table top of the medical platform relative to the base of the medical platform to setup for a medical procedure, optionally, with the patient remaining on the table top of the medical platform throughout the entire process. The pendant also allows for precise movement and orientation of the medical platform and the table top of the medical platform, and can provide feedback to the user as the user provides inputs at the pendant for operating the medical platform. In addition, the user of the pendant is located close to the table top of the medical platform during operation of the pendant, such that the user could observe the patient's condition closely while controlling movement of the medical platform using the pendant. In some embodiments, the pendant is removably attached to (e.g., via a tether, a hook, or magnetically, etc.) a preset portion of the medical platform (e.g., head side of the table top, side railing, foot side of the table top, etc.) to allow easy access and easy storage of the pendant at or near the table top of the medical platform. In some embodiments, the pendant is, optionally, operable within a preset range (e.g., constrained via a tether, and/or preconfigured data communication range, etc.) from the table top of the medical platform, e.g., to ensure safe of patients and personnel during movement of the medical platform.
In accordance with some embodiments, a mobile medical platform (e.g., a surgical bed, a surgical table, a robotic surgical table, a medical platform, etc.) includes a table (e.g., a surgical table, a surgical bed, etc.), one or more robotic arms, one or more wheel assemblies, and an input device (e.g., a pendant, a pendant controller, a bed pendant, a portable device, a handheld input device, etc., coupled to the table). The table includes a base (e.g., a table base for a surgical bed, a rigid load-bearing housing, a chassis, a rigid base, etc.) and a table top (e.g., a platform or support surface that is rigidly coupled or movably coupled to the base). The one or more robotic arms are coupled (e.g., mechanically coupled, movably coupled, etc.) to the table (e.g., directly to the rigid base of the table, to the rigid base via a moveable arm support, or to the table top). The one or more wheel assemblies are coupled to the base to support and move the base in a physical environment, and a respective wheel assembly of the one or more wheel assemblies includes at least one motorized wheel (e.g., a wheel that is steered by a first motor, rolled by a second motor, or both). The input device is configured to receive user inputs of a first input type. The mobile medical platform also includes one or more processors and memory storing instructions, which, when executed by the one or more processors, cause the processors to perform one or more steps to operate the mobile medical platform. The mobile medical platform receives a first user input of the first input type (e.g., touch inputs (e.g., tap, swipe, press, touch and hold), movement of a joystick, press inputs, a combination of multiple preset input modalities) via the input device. In response to detecting the first user input of the first input type and in accordance with a determination that the first user input meets first criteria (e.g., criteria for recognizing an input that corresponds to a request to control mobility of the mobile medical platform by controlling the at least one motorized wheel (e.g., locking, unlocking, turning, rolling, stopping, and/or pivoting one or more of the at least one motorized wheel), including a combination of conditions, thresholds, and/or input type requirements), the mobile medical platform initiates first movement (e.g., steering or rolling movement, or both) of the at least one motorized wheel in accordance with the first user input of the first input type.
In some embodiments, the input device is configured to receive user inputs of a second input type (e.g., touch inputs (e.g., tap, swipe, press, touch and hold, etc.), movement of a joystick, press inputs, a combination of multiple preset input modalities, etc.) (e.g., same as the first input type, different from the first input type). The mobile medical platform receives a second user input of the second input type via the input device. In response to detecting the second user input of the first input type and in accordance with a determination that the second user input meets second criteria (e.g., criteria for recognizing an input that corresponds to a request to control the position and pose of the table top relative to the base (e.g., by controlling one or more motors coupled to the table (e.g., between the table top and the base, to the table top, etc.), including a combination of conditions, thresholds, and/or input type requirements), the mobile medical platform initiates second movement of the table top relative to the base (e.g., tilt, rotate, pan, translate vertically, translate horizontally the table top relative to the base, etc.) in accordance with the second user input of the second input type.
In some embodiments, the input device is a pendant that is coupled to the table (e.g., tethered by a wire, wireless communication such as Bluetooth, magnetically coupled to the frame of the table, etc.).
In some embodiments, the input device includes a first joystick and a second joystick.
In some embodiments, the input device includes a motion control affordance (e.g., motion enabled affordance). In accordance with a determination that the motion control affordance is activated (e.g., activated by a press input, pressed and continuously held down, etc.) while (e.g., concurrently with) user inputs are received by at least one of the first joystick and the second joystick, the mobile medical platform enables a movement control function of the first joystick and the second joystick (e.g., enables user control of the movement of the wheel assemblies via the first and second joysticks). In accordance with a determination that the motion control affordance is not activated while user inputs are received by at least one of the first joystick and the second joystick, the mobile medical platform disables the movement control function of the first joystick and the second joystick (e.g., disables user control of the movement of the wheel assemblies via the first and second joysticks, ignores the inputs received via the first and second joysticks, etc.).
In some embodiments, the first user input device includes a first visual indicator (e.g., a light ring, one or more lights, etc.) disposed adjacent to the first joystick (e.g., around a peripheral region of the first joystick, next to two or more boundary points of the input region of the first joystick, etc.), and a second visual indicator (e.g., a light ring, one or more lights, etc.) disposed adjacent to the second joystick (e.g., around a peripheral region of the first joystick, next to two or more boundary points of the input region of the first joystick, etc.). The first visual indicator is dynamically updated in accordance with characteristics of a movement input received via the first joystick, and the second visual indicator is dynamically updated in accordance with characteristics of a movement input received via the second joystick.
In some embodiments, the input device includes a touch sensitive display (e.g., a touch screen display, a touch-sensitive surface integrated with visual indicators that provide dynamically updated visual feedback and visual prompt for inputs, etc.). In accordance with a determination that the input device is in a first operation mode (e.g., bed mobility control mode), the mobile medical platform presents a first user interface for controlling mobility of the mobile medical platform, including one or more affordances for controlling the at least one powered wheel. In accordance with a determination that the input device is in a second operation mode (e.g., table top control mode), the mobile medical platform presents a second user interface for interacting with the table top, including one or more affordances for changing a position of the table top (e.g., pitch, roll, translate, move bed sections, flex head/foot sections, etc.) relative to the base.
In some embodiments, the input device includes a control affordance (e.g., a hardware lock/unlock button or switch). In accordance with a determination that the control affordance is activated (e.g., pressed, engaged, disengaged, etc.) at a first time, the mobile medical platform transitions from operating the input device in a first mode (e.g., mobility mode, bed control mode, etc.) to operating in a second mode (e.g., table top mode, bed status mode, etc.) that is different from the first mode. In accordance with a determination that the control affordance is activated (e.g., pressed again, disengaged, engaged, etc.) at a second time after the first time, the mobile medical platform transitions from operating the input device in the second mode to operating the input device in the first mode.
In some embodiments, the input device includes a display (e.g., a touch screen display, a LED display, an LCD display, etc.). In accordance with a determination that the input device is operating in the first mode, the mobile medical platform displays a first user interface with a first orientation (e.g., a landscape orientation) on the display. The first user interface includes one or more first affordances for controlling movement of the table. In accordance with a determination that the input device is operating in the second mode, the mobile medical platform displays a second user interface via the display with a second orientation (e.g., portrait orientation) on the display. The second orientation is different from the first orientation, and the second user interface includes one or more second affordances for reviewing a status of the mobile medical platform.
In some embodiments, in accordance with a determination the input device is operating in the first mode, the mobile medical platform orients the motorized wheels of the one or more wheel assemblies in a first predefined configuration (e.g., all wheels oriented in the same direction) to enable movement of the base in the physical environment. In accordance with a determination the input device is operating in the second mode, the mobile medical platform orients the motorized wheels of the one or more wheel assemblies in a second predefined configuration (e.g., braking configuration, preset braking configuration, a locked configuration, etc.) to restrict movement of the base in the physical environment, wherein the second predefined configuration is different from the first predefined configuration.
In some embodiments, the input device includes an accelerometer (e.g., 3-axis accelerometer, a gyro, a motion sensor, etc.). In response to detecting a falling motion of the input device using the accelerometer, the mobile medical platform activates a lock-out mode in which user inputs directed to the input device are ignored.
In accordance with some embodiments, an input device (e.g., a bed pendant, a portable device, a handheld input device, etc., coupled to the table) for controlling a mobile medical platform system (e.g., a surgical bed, a surgical table, a robotic surgical table, etc.) includes a bed, a base, and one or more robotic arms. The input device also includes a first input interface that is configured to receive user inputs of a first input type, a display, one or more processors, and memory storing instructions, which, when executed by the one or more processors, cause the processors to perform one or more steps to operate the input device. In accordance with a determination that the input device is operating in a first mode (e.g., mobility mode, bed control mode) (e.g., determined in accordance with a current orientation of the input device being the first orientation, and/or optionally, in accordance with activation of a motion enable control affordance, etc.), display, via the display, a first view of a user interface that corresponds to the first mode. The first view provides visual feedback regarding first movement (e.g., steering or rolling movement, or both) of the base of the mobile medical platform system in a physical environment that is initiated in accordance with a first user input of the first input type received through the first input interface. The memory further stores instructions, which, when executed by the one or more processors, cause the processors to detect a transition event that transitions the input device from the first mode to a second mode (e.g., table top mode, bed status mode) distinct from the first mode, and in response to detecting the transition event that transitions the input device from the first mode to the second mode, the input device displays a second view of the user interface that corresponds to the second mode. The second view provides visual feedback regarding a current positional status of the bed and/or the one or more robotic arms of the mobile medical platform system (e.g., arm positions relative to the bed, arm and bed positions relative to the base, etc.).
In some embodiments, the first view of the user interface that corresponds to the first mode has a first orientation (e.g., landscape format), and the second view of the user interface that corresponds to the second mode has a second orientation (e.g., landscape format) that is different from (e.g., orthogonal to) the first orientation.
In some embodiments, the input device includes a first joystick and a second joystick different from the first joystick.
In some embodiments, the input device includes a first visual indicator (e.g., a light ring, one or more lights, etc.) that is disposed adjacent to the first joystick (e.g., around a peripheral region of the first joystick, next to two or more boundary points of the input region of the first joystick, etc.), and a second visual indicator (e.g., a light ring, one or more lights, etc.) that is disposed adjacent to the second joystick (e.g., around a peripheral region of the first joystick, next to two or more boundary points of the input region of the first joystick, etc.). The first visual indicator is dynamically updated in accordance with characteristics of a movement input received via the first joystick, and the second visual indicator is dynamically updated in accordance with characteristics of a movement input received via the second joystick.
In some embodiments, the input device includes a motion control affordance (e.g., motion enable affordance, motion control affordance). In accordance with a determination that the motion control affordance is activated (e.g., activated by a press input, pressed and continuously held down, placed into or maintained in an engaged state, etc.) while (e.g., concurrently with) user inputs are received by at least one of the first joystick and the second joystick, the input device enables a movement control function of the first joystick and the second joystick (e.g., enabling user control of the movement of the wheel assemblies via the first and second joysticks). In accordance with a determination that the motion control affordance is not activated while user inputs are received by at least one of the first joystick and the second joystick, the user input device disables the movement control function of the first joystick and the second joystick.
In some embodiments, in accordance with a determination that the motion control affordance is activated while the input device is in the second mode, the input device automatically transitions from the second mode to the first mode.
In some embodiments, the input device includes a control affordance (e.g., lock/unlock button) for transitioning the input device between the first mode and the second mode. The transition event for transitioning the input device between the first mode and the second mode includes detection of a preset user input (e.g., pressing the button, flipping a switch, actuate and hold a button and switch, etc.) via the control affordance of the input device.
In some embodiments, the mobile medical platform system includes one or more wheel assemblies. A respective wheel assembly of the one or more wheel assemblies includes at least one motorized wheel. In response to detecting the transition event that transitions the input device from the first mode to the second mode and in accordance with a determination the input device is in the second mode, the motorized wheels of the one or more wheel assemblies are oriented in a predefined braking configuration to restrict movement of the mobile medical platform system. The memory further stores instructions, which, when executed by the one or more processors, cause the processors to detect a second transition event that transitions the input device from the second mode to a first mode. In response to detecting the second transition event that transitions the input device from the second mode to the first mode and in accordance with a determination the input device is in the first mode, the motorized wheels of the one or more wheel assemblies are oriented in a first predefined configuration (e.g., all wheels oriented in the same direction) to enable movement of the bed. The first predefined configuration is different from the predefined braking configuration.
In some embodiments, the input device includes an accelerometer (e.g., 3-axis accelerometer, a gyro, a motion sensor, etc.). The memory further stores instructions, which, when executed by the one or more processors, cause the processors to, in response to detecting a falling motion of the input device, activate a lock-out mode of the input device in which user inputs (e.g., button press, joystick movement, touch screen contact, any user input) directed to the input device are ignored (e.g., not detected, not processed, etc.).
The disclosed aspects will hereinafter be described in conjunction with the appended drawings, provided to illustrate and not to limit the disclosed aspects, wherein like designations denote like elements.
Aspects of the present disclosure may be integrated into a robotically-enabled medical system capable of performing a variety of medical procedures, including both minimally invasive, such as laparoscopy, and non-invasive, such as endoscopy, procedures. Among endoscopy procedures, the system may be capable of performing bronchoscopy, ureteroscopy, gastroscopy, etc.
In addition to performing the breadth of procedures, the system may provide additional benefits, such as enhanced imaging and guidance to assist the physician. Additionally, the system may provide the physician with the ability to perform the procedure from an ergonomic position without the need for awkward arm motions and positions. Still further, the system may provide the physician with the ability to perform the procedure with improved ease of use such that one or more of the instruments of the system can be controlled by a single user.
Various embodiments will be described below in conjunction with the drawings for purposes of illustration. It should be appreciated that many other embodiments of the disclosed concepts are possible, and various advantages can be achieved with the disclosed embodiments. Headings are included herein for reference and to aid in locating various sections. These headings are not intended to limit the scope of the concepts described with respect thereto. Such concepts may have applicability throughout the entire specification.
The robotically-enabled medical system may be configured in a variety of ways depending on the particular procedure.
With continued reference to
The endoscope 13 may be directed down the patient's trachea and lungs after insertion using precise commands from the robotic system until reaching the target destination or operative site. In order to enhance navigation through the patient's lung network and/or reach the desired target, the endoscope 13 may be manipulated to telescopically extend the inner leader portion from the outer sheath portion to obtain enhanced articulation and greater bend radius. The use of separate instrument drivers 28 also allows the leader portion and sheath portion to be driven independent of each other.
For example, the endoscope 13 may be directed to deliver a biopsy needle to a target, such as, for example, a lesion or nodule within the lungs of a patient. The needle may be deployed down a working channel that runs the length of the endoscope to obtain a tissue sample to be analyzed by a pathologist. Depending on the pathology results, additional tools may be deployed down the working channel of the endoscope for additional biopsies. After identifying a nodule to be malignant, the endoscope 13 may endoscopically deliver tools to resect the potentially cancerous tissue. In some instances, diagnostic and therapeutic treatments can be delivered in separate procedures. In those circumstances, the endoscope 13 may also be used to deliver a fiducial to “mark” the location of the target nodule as well. In other instances, diagnostic and therapeutic treatments may be delivered during the same procedure.
The system 10 may also include a movable tower 30, which may be connected via support cables to the cart 11 to provide support for controls, electronics, fluidics, optics, sensors, and/or power to the cart 11. Placing such functionality in the tower 30 allows for a smaller form factor cart 11 that may be more easily adjusted and/or re-positioned by an operating physician and his/her staff. Additionally, the division of functionality between the cart/table and the support tower 30 reduces operating room clutter and facilitates improving clinical workflow. While the cart 11 may be positioned close to the patient, the tower 30 may be stowed in a remote location to stay out of the way during a procedure.
In support of the robotic systems described above, the tower 30 may include component(s) of a computer-based control system that stores computer program instructions, for example, within a non-transitory computer-readable storage medium such as a persistent magnetic storage drive, solid state drive, etc. The execution of those instructions, whether the execution occurs in the tower 30 or the cart 11, may control the entire system or sub-system(s) thereof. For example, when executed by a processor of the computer system, the instructions may cause the components of the robotics system to actuate the relevant carriages and arm mounts, actuate the robotics arms, and control the medical instruments. For example, in response to receiving the control signal, the motors in the joints of the robotics arms may position the arms into a certain posture.
The tower 30 may also include a pump, flow meter, valve control, and/or fluid access in order to provide controlled irrigation and aspiration capabilities to the system that may be deployed through the endoscope 13. These components may also be controlled using the computer system of tower 30. In some embodiments, irrigation and aspiration capabilities may be delivered directly to the endoscope 13 through separate cable(s).
The tower 30 may include a voltage and surge protector designed to provide filtered and protected electrical power to the cart 11, thereby avoiding placement of a power transformer and other auxiliary power components in the cart 11, resulting in a smaller, more moveable cart 11.
The tower 30 may also include support equipment for the sensors deployed throughout the robotic system 10. For example, the tower 30 may include opto-electronics equipment for detecting, receiving, and processing data received from the optical sensors or cameras throughout the robotic system 10. In combination with the control system, such opto-electronics equipment may be used to generate real-time images for display in any number of consoles deployed throughout the system, including in the tower 30. Similarly, the tower 30 may also include an electronic subsystem for receiving and processing signals received from deployed electromagnetic (EM) sensors. The tower 30 may also be used to house and position an EM field generator for detection by EM sensors in or on the medical instrument.
The tower 30 may also include a console 31 in addition to other consoles available in the rest of the system, e.g., console mounted on top of the cart. The console 31 may include a user interface and a display screen, such as a touchscreen, for the physician operator. Consoles in system 10 are generally designed to provide both robotic controls as well as pre-operative and real-time information of the procedure, such as navigational and localization information of the endoscope 13. When the console 31 is not the only console available to the physician, it may be used by a second operator, such as a nurse, to monitor the health or vitals of the patient and the operation of system, as well as provide procedure-specific data, such as navigational and localization information. In other embodiments, the console 31 is housed in a body that is separate from the tower 30.
The tower 30 may be coupled to the cart 11 and endoscope 13 through one or more cables or connections (not shown). In some embodiments, the support functionality from the tower 30 may be provided through a single cable to the cart 11, simplifying and de-cluttering the operating room. In other embodiments, specific functionality may be coupled in separate cabling and connections. For example, while power may be provided through a single power cable to the cart, the support for controls, optics, fluidics, and/or navigation may be provided through a separate cable.
The carriage interface 19 is connected to the column 14 through slots, such as slot 20, that are positioned on opposite sides of the column 14 to guide the vertical translation of the carriage 17. The slot 20 contains a vertical translation interface to position and hold the carriage at various vertical heights relative to the cart base 15. Vertical translation of the carriage 17 allows the cart 11 to adjust the reach of the robotic arms 12 to meet a variety of table heights, patient sizes, and physician preferences. Similarly, the individually configurable arm mounts on the carriage 17 allow the robotic arm base 21 of robotic arms 12 to be angled in a variety of configurations.
In some embodiments, the slot 20 may be supplemented with slot covers that are flush and parallel to the slot surface to prevent dirt and fluid ingress into the internal chambers of the column 14 and the vertical translation interface as the carriage 17 vertically translates. The slot covers may be deployed through pairs of spring spools positioned near the vertical top and bottom of the slot 20. The covers are coiled within the spools until deployed to extend and retract from their coiled state as the carriage 17 vertically translates up and down. The spring-loading of the spools provides force to retract the cover into a spool when carriage 17 translates towards the spool, while also maintaining a tight seal when the carriage 17 translates away from the spool. The covers may be connected to the carriage 17 using, for example, brackets in the carriage interface 19 to ensure proper extension and retraction of the cover as the carriage 17 translates.
The column 14 may internally comprise mechanisms, such as gears and motors, that are designed to use a vertically aligned lead screw to translate the carriage 17 in a mechanized fashion in response to control signals generated in response to user inputs, e.g., inputs from the console 16.
The robotic arms 12 may generally comprise robotic arm bases 21 and end effectors 22, separated by a series of linkages 23 that are connected by a series of joints 24, each joint comprising an independent actuator, each actuator comprising an independently controllable motor. Each independently controllable joint represents an independent degree of freedom available to the robotic arm. Each of the arms 12 have seven joints, and thus provide seven degrees of freedom. A multitude of joints result in a multitude of degrees of freedom, allowing for “redundant” degrees of freedom. Redundant degrees of freedom allow the robotic arms 12 to position their respective end effectors 22 at a specific position, orientation, and trajectory in space using different linkage positions and joint angles. This allows for the system to position and direct a medical instrument from a desired point in space while allowing the physician to move the arm joints into a clinically advantageous position away from the patient to create greater access, while avoiding arm collisions.
The cart base 15 balances the weight of the column 14, carriage 17, and arms 12 over the floor. Accordingly, the cart base 15 houses heavier components, such as electronics, motors, power supply, as well as components that either enable movement and/or immobilize the cart. For example, the cart base 15 includes one or more wheel assemblies that allow for the cart to easily move around the room prior to a procedure. After reaching the appropriate position, wheels of the one of more wheel assemblies may be immobilized using wheel locks or may be arranged in a preset braking configuration that maintains the cart 11 immobilized during the procedure.
Positioned at the vertical end of column 14, the console 16 allows for both a user interface for receiving user input and a display screen (or a dual-purpose device such as, for example, a touchscreen 26) to provide the physician user with both pre-operative and intra-operative data. Potential pre-operative data on the touchscreen 26 may include pre-operative plans, navigation and mapping data derived from pre-operative computerized tomography (CT) scans, and/or notes from pre-operative patient interviews. Intra-operative data on display may include optical information provided from the tool, sensor and coordinate information from sensors, as well as vital patient statistics, such as respiration, heart rate, and/or pulse. The console 16 may be positioned and tilted to allow a physician to access the console from the side of the column 14 opposite carriage 17. From this position, the physician may view the console 16, robotic arms 12, and patient while operating the console 16 from behind the cart 11. As shown, the console 16 also includes a handle 27 to assist with maneuvering and stabilizing cart 11.
After insertion into the urethra, using similar control techniques as in bronchoscopy, the ureteroscope 32 may be navigated into the bladder, ureters, and/or kidneys for diagnostic and/or therapeutic applications. For example, the ureteroscope 32 may be directed into the ureter and kidneys to break up kidney stone build up using a laser or ultrasonic lithotripsy device deployed down the working channel of the ureteroscope 32. After lithotripsy is complete, the resulting stone fragments may be removed using baskets deployed down the ureteroscope 32.
Embodiments of the robotically-enabled medical system may also incorporate the patient's table. Incorporation of the table reduces the amount of capital equipment within the operating room by removing the cart, which allows greater access to the patient.
The arms 39 may be mounted on the carriages through a set of arm mounts 45 comprising a series of joints that may individually rotate and/or telescopically extend to provide additional configurability to the robotic arms 39. Additionally, the arm mounts 45 may be positioned on the carriages 43 such that, when the carriages 43 are appropriately rotated, the arm mounts 45 may be positioned on either the same side of table 38 (as shown in
The column 37 structurally provides support for the table 38, and a path for vertical translation of the carriages. Internally, the column 37 may be equipped with lead screws for guiding vertical translation of the carriages, and motors to mechanize the translation of said carriages based the lead screws. The column 37 may also convey power and control signals to the carriage 43 and robotic arms 39 mounted thereon.
The table base 46 serves a similar function as the cart base 15 in cart 11 shown in
Continuing with
In some embodiments, a table base may stow and store the robotic arms when not in use.
In a laparoscopic procedure, through small incision(s) in the patient's abdominal wall, minimally invasive instruments may be inserted into the patient's anatomy. In some embodiments, the minimally invasive instruments comprise an elongated rigid member, such as a shaft, which is used to access anatomy within the patient. After inflation of the patient's abdominal cavity, the instruments may be directed to perform surgical or medical tasks, such as grasping, cutting, ablating, suturing, etc. In some embodiments, the instruments can comprise a scope, such as a laparoscope.
To accommodate laparoscopic procedures, the robotically-enabled table system may also tilt the platform to a desired angle.
For example, pitch adjustments are particularly useful when trying to position the table in a Trendelenburg position, i.e., position the patient's lower abdomen at a higher position from the floor than the patient's lower abdomen, for lower abdominal surgery. The Trendelenburg position causes the patient's internal organs to slide towards his/her upper abdomen through the force of gravity, clearing out the abdominal cavity for minimally invasive tools to enter and perform lower abdominal surgical or medical procedures, such as laparoscopic prostatectomy.
The adjustable arm support 105 can provide several degrees of freedom, including lift, lateral translation, tilt, etc. In the illustrated embodiment of
The surgical robotics system 100 in
The adjustable arm support 105 can be mounted to the column 102. In other embodiments, the arm support 105 can be mounted to the table 101 or base 103. The adjustable arm support 105 can include a carriage 109, a bar or rail connector 111 and a bar or rail 107. In some embodiments, one or more robotic arms mounted to the rail 107 can translate and move relative to one another.
The carriage 109 can be attached to the column 102 by a first joint 113, which allows the carriage 109 to move relative to the column 102 (e.g., such as up and down a first or vertical axis 123). The first joint 113 can provide the first degree of freedom (“Z-lift”) to the adjustable arm support 105. The adjustable arm support 105 can include a second joint 115, which provides the second degree of freedom (tilt) for the adjustable arm support 105. The adjustable arm support 105 can include a third joint 117, which can provide the third degree of freedom (“pivot up”) for the adjustable arm support 105. An additional joint 119 (shown in
In some embodiments, one or more of the robotic arms 142A, 142B comprises an arm with seven or more degrees of freedom. In some embodiments, one or more of the robotic arms 142A, 142B can include eight degrees of freedom, including an insertion axis (1-degree of freedom including insertion), a wrist (3-degrees of freedom including wrist pitch, yaw and roll), an elbow (1-degree of freedom including elbow pitch), a shoulder (2-degrees of freedom including shoulder pitch and yaw), and base 144A, 144B (1-degree of freedom including translation). In some embodiments, the insertion degree of freedom can be provided by the robotic arm 142A, 142B, while in other embodiments, the instrument itself provides insertion via an instrument-based insertion architecture.
The end effectors of the system's robotic arms comprise (i) an instrument driver (alternatively referred to as “instrument drive mechanism” or “instrument device manipulator”) that incorporate electro-mechanical means for actuating the medical instrument and (ii) a removable or detachable medical instrument, which may be devoid of any electro-mechanical components, such as motors. This dichotomy may be driven by the need to sterilize medical instruments used in medical procedures, and the inability to adequately sterilize expensive capital equipment due to their intricate mechanical assemblies and sensitive electronics. Accordingly, the medical instruments may be designed to be detached, removed, and interchanged from the instrument driver (and thus the system) for individual sterilization or disposal by the physician or the physician's staff. In contrast, the instrument drivers need not be changed or sterilized, and may be draped for protection.
For procedures that require a sterile environment, the robotic system may incorporate a drive interface, such as a sterile adapter connected to a sterile drape, that sits between the instrument driver and the medical instrument. The chief purpose of the sterile adapter is to transfer angular motion from the drive shafts of the instrument driver to the drive inputs of the instrument while maintaining physical separation, and thus sterility, between the drive shafts and drive inputs. Accordingly, an example sterile adapter may comprise of a series of rotational inputs and outputs intended to be mated with the drive shafts of the instrument driver and drive inputs on the instrument. Connected to the sterile adapter, the sterile drape, comprised of a thin, flexible material such as transparent or translucent plastic, is designed to cover the capital equipment, such as the instrument driver, robotic arm, and cart (in a cart-based system) or table (in a table-based system). Use of the drape would allow the capital equipment to be positioned proximate to the patient while still being located in an area not requiring sterilization (i.e., non-sterile field). On the other side of the sterile drape, the medical instrument may interface with the patient in an area requiring sterilization (i.e., sterile field).
The elongated shaft 71 is designed to be delivered through either an anatomical opening or lumen, e.g., as in endoscopy, or a minimally invasive incision, e.g., as in laparoscopy. The elongated shaft 71 may be either flexible (e.g., having properties similar to an endoscope) or rigid (e.g., having properties similar to a laparoscope) or contain a customized combination of both flexible and rigid portions. When designed for laparoscopy, the distal end of a rigid elongated shaft may be connected to an end effector extending from a jointed wrist formed from a clevis with at least one degree of freedom and a surgical tool or medical instrument, such as, for example, a grasper or scissors, that may be actuated based on force from the tendons as the drive inputs rotate in response to torque received from the drive outputs 74 of the instrument driver 75. When designed for endoscopy, the distal end of a flexible elongated shaft may include a steerable or controllable bending section that may be articulated and bent based on torque received from the drive outputs 74 of the instrument driver 75.
Torque from the instrument driver 75 is transmitted down the elongated shaft 71 using tendons along the shaft 71. These individual tendons, such as pull wires, may be individually anchored to individual drive inputs 73 within the instrument handle 72. From the handle 72, the tendons are directed down one or more pull lumens along the elongated shaft 71 and anchored at the distal portion of the elongated shaft 71, or in the wrist at the distal portion of the elongated shaft. During a surgical procedure, such as a laparoscopic, endoscopic or hybrid procedure, these tendons may be coupled to a distally mounted end effector, such as a wrist, grasper, or scissor. Under such an arrangement, torque exerted on drive inputs 73 would transfer tension to the tendon, thereby causing the end effector to actuate in some way. In some embodiments, during a surgical procedure, the tendon may cause a joint to rotate about an axis, thereby causing the end effector to move in one direction or another. Alternatively, the tendon may be connected to one or more jaws of a grasper at distal end of the elongated shaft 71, where tension from the tendon cause the grasper to close.
In endoscopy, the tendons may be coupled to a bending or articulating section positioned along the elongated shaft 71 (e.g., at the distal end) via adhesive, control ring, or other mechanical fixation. When fixedly attached to the distal end of a bending section, torque exerted on drive inputs 73 would be transmitted down the tendons, causing the softer, bending section (sometimes referred to as the articulable section or region) to bend or articulate. Along the non-bending sections, it may be advantageous to spiral or helix the individual pull lumens that direct the individual tendons along (or inside) the walls of the endoscope shaft to balance the radial forces that result from tension in the pull wires. The angle of the spiraling and/or spacing there between may be altered or engineered for specific purposes, wherein tighter spiraling exhibits lesser shaft compression under load forces, while lower amounts of spiraling results in greater shaft compression under load forces, but also exhibits limits bending. On the other end of the spectrum, the pull lumens may be directed parallel to the longitudinal axis of the elongated shaft 71 to allow for controlled articulation in the desired bending or articulable sections.
In endoscopy, the elongated shaft 71 houses a number of components to assist with the robotic procedure. The shaft may comprise of a working channel for deploying surgical tools (or medical instruments), irrigation, and/or aspiration to the operative region at the distal end of the shaft 71. The shaft 71 may also accommodate wires and/or optical fibers to transfer signals to/from an optical assembly at the distal tip, which may include of an optical camera. The shaft 71 may also accommodate optical fibers to carry light from proximally-located light sources, such as light emitting diodes, to the distal end of the shaft.
At the distal end of the instrument 70, the distal tip may also comprise the opening of a working channel for delivering tools for diagnostic and/or therapy, irrigation, and aspiration to an operative site. The distal tip may also include a port for a camera, such as a fiberscope or a digital camera, to capture images of an internal anatomical space. Relatedly, the distal tip may also include ports for light sources for illuminating the anatomical space when using the camera.
In the example of
Like earlier disclosed embodiments, an instrument 86 may comprise an elongated shaft portion 88 and an instrument base 87 (shown with a transparent external skin for discussion purposes) comprising a plurality of drive inputs 89 (such as receptacles, pulleys, and spools) that are configured to receive the drive outputs 81 in the instrument driver 80. Unlike prior disclosed embodiments, instrument shaft 88 extends from the center of instrument base 87 with an axis substantially parallel to the axes of the drive inputs 89, rather than orthogonal as in the design of
When coupled to the rotational assembly 83 of the instrument driver 80, the medical instrument 86, comprising instrument base 87 and instrument shaft 88, rotates in combination with the rotational assembly 83 about the instrument driver axis 85. Since the instrument shaft 88 is positioned at the center of instrument base 87, the instrument shaft 88 is coaxial with instrument driver axis 85 when attached. Thus, rotation of the rotational assembly 83 causes the instrument shaft 88 to rotate about its own longitudinal axis. Moreover, as the instrument base 87 rotates with the instrument shaft 88, any tendons connected to the drive inputs 89 in the instrument base 87 are not tangled during rotation. Accordingly, the parallelism of the axes of the drive outputs 81, drive inputs 89, and instrument shaft 88 allows for the shaft rotation without tangling any control tendons.
The instrument handle 170, which may also be referred to as an instrument base, may generally comprise an attachment interface 172 having one or more mechanical inputs 174, e.g., receptacles, pulleys or spools, that are designed to be reciprocally mated with one or more torque couplers on an attachment surface of an instrument driver.
In some embodiments, the instrument 150 comprises a series of pulleys or cables that enable the elongated shaft 152 to translate relative to the handle 170. In other words, the instrument 150 itself comprises an instrument-based insertion architecture that accommodates insertion of the instrument, thereby minimizing the reliance on a robot arm to provide insertion of the instrument 150. In other embodiments, a robotic arm can be largely responsible for instrument insertion.
Any of the robotic systems described herein can include an input device or controller for manipulating an instrument attached to a robotic arm. In some embodiments, the controller can be coupled (e.g., communicatively, electronically, electrically, wirelessly and/or mechanically) with an instrument such that manipulation of the controller causes a corresponding manipulation of the instrument e.g., via master slave control.
In the illustrated embodiment, the controller 182 is configured to allow manipulation of two medical instruments, and includes two handles 184. Each of the handles 184 is connected to a gimbal 186. Each gimbal 186 is connected to a positioning platform 188.
As shown in
In some embodiments, one or more load cells are positioned in the controller. For example, in some embodiments, a load cell (not shown) is positioned in the body of each of the gimbals 186. By providing a load cell, portions of the controller 182 are capable of operating under admittance control, thereby advantageously reducing the perceived inertia of the controller while in use. In some embodiments, the positioning platform 188 is configured for admittance control, while the gimbal 186 is configured for impedance control. In other embodiments, the gimbal 186 is configured for admittance control, while the positioning platform 188 is configured for impedance control. Accordingly, for some embodiments, the translational or positional degrees of freedom of the positioning platform 188 can rely on admittance control, while the rotational degrees of freedom of the gimbal 186 rely on impedance control.
Traditional endoscopy may involve the use of fluoroscopy (e.g., as may be delivered through a C-arm) and other forms of radiation-based imaging modalities to provide endoluminal guidance to an operator physician. In contrast, the robotic systems contemplated by this disclosure can provide for non-radiation-based navigational and localization means to reduce physician exposure to radiation and reduce the amount of equipment within the operating room. As used herein, the term “localization” may refer to determining and/or monitoring the position of objects in a reference coordinate system. Technologies such as pre-operative mapping, computer vision, real-time EM tracking, and robot command data may be used individually or in combination to achieve a radiation-free operating environment. In other cases, where radiation-based imaging modalities are still used, the pre-operative mapping, computer vision, real-time EM tracking, and robot command data may be used individually or in combination to improve upon the information obtained solely through radiation-based imaging modalities.
As shown in
The various input data 91-94 are now described in greater detail. Pre-operative mapping may be accomplished through the use of the collection of low dose CT scans. Pre-operative CT scans are reconstructed into three-dimensional images, which are visualized, e.g. as “slices” of a cutaway view of the patient's internal anatomy. When analyzed in the aggregate, image-based models for anatomical cavities, spaces and structures of the patient's anatomy, such as a patient lung network, may be generated. Techniques such as center-line geometry may be determined and approximated from the CT images to develop a three-dimensional volume of the patient's anatomy, referred to as model data 91 (also referred to as “preoperative model data” when generated using only preoperative CT scans). The use of center-line geometry is discussed in U.S. patent application Ser. No. 14/523,760, the contents of which are herein incorporated in its entirety. Network topological models may also be derived from the CT-images, and are particularly appropriate for bronchoscopy.
In some embodiments, the instrument may be equipped with a camera to provide vision data 92. The localization module 95 may process the vision data to enable one or more vision-based location tracking. For example, the preoperative model data may be used in conjunction with the vision data 92 to enable computer vision-based tracking of the medical instrument (e.g., an endoscope or an instrument advance through a working channel of the endoscope). For example, using the preoperative model data 91, the robotic system may generate a library of expected endoscopic images from the model based on the expected path of travel of the endoscope, each image linked to a location within the model. Intra-operatively, this library may be referenced by the robotic system in order to compare real-time images captured at the camera (e.g., a camera at a distal end of the endoscope) to those in the image library to assist localization.
Other computer vision-based tracking techniques use feature tracking to determine motion of the camera, and thus the endoscope. Some features of the localization module 95 may identify circular geometries in the preoperative model data 91 that correspond to anatomical lumens and track the change of those geometries to determine which anatomical lumen was selected, as well as the relative rotational and/or translational motion of the camera. Use of a topological map may further enhance vision-based algorithms or techniques.
Optical flow, another computer vision-based technique, may analyze the displacement and translation of image pixels in a video sequence in the vision data 92 to infer camera movement. Examples of optical flow techniques may include motion detection, object segmentation calculations, luminance, motion compensated encoding, stereo disparity measurement, etc. Through the comparison of multiple frames over multiple iterations, movement and location of the camera (and thus the endoscope) may be determined.
The localization module 95 may use real-time EM tracking to generate a real-time location of the endoscope in a global coordinate system that may be registered to the patient's anatomy, represented by the preoperative model. In EM tracking, an EM sensor (or tracker) comprising of one or more sensor coils embedded in one or more locations and orientations in a medical instrument (e.g., an endoscopic tool) measures the variation in the EM field created by one or more static EM field generators positioned at a known location. The location information detected by the EM sensors is stored as EM data 93. The EM field generator (or transmitter), may be placed close to the patient to create a low intensity magnetic field that the embedded sensor may detect. The magnetic field induces small currents in the sensor coils of the EM sensor, which may be analyzed to determine the distance and angle between the EM sensor and the EM field generator. These distances and orientations may be intra-operatively “registered” to the patient anatomy (e.g., the preoperative model) in order to determine the geometric transformation that aligns a single location in the coordinate system with a position in the pre-operative model of the patient's anatomy. Once registered, an embedded EM tracker in one or more positions of the medical instrument (e.g., the distal tip of an endoscope) may provide real-time indications of the progression of the medical instrument through the patient's anatomy.
Robotic command and kinematics data 94 may also be used by the localization module 95 to provide localization data 96 for the robotic system. Device pitch and yaw resulting from articulation commands may be determined during pre-operative calibration. Intra-operatively, these calibration measurements may be used in combination with known insertion depth information to estimate the position of the instrument. Alternatively, these calculations may be analyzed in combination with EM, vision, and/or topological modeling to estimate the position of the medical instrument within the network.
As
The localization module 95 may use the input data 91-94 in combination(s). In some cases, such a combination may use a probabilistic approach where the localization module 95 assigns a confidence weight to the location determined from each of the input data 91-94. Thus, where the EM data may not be reliable (as may be the case where there is EM interference) the confidence of the location determined by the EM data 93 can be decrease and the localization module 95 may rely more heavily on the vision data 92 and/or the robotic command and kinematics data 94.
As discussed above, the robotic systems discussed herein may be designed to incorporate a combination of one or more of the technologies above. The robotic system's computer-based control system, based in the tower, bed and/or cart, may store computer program instructions, for example, within a non-transitory computer-readable storage medium such as a persistent magnetic storage drive, solid state drive, or the like, that, upon execution, cause the system to receive and analyze sensor data and user commands, generate control signals throughout the system, and display the navigational and localization data, such as the position of the instrument within the global coordinate system, anatomical map, etc.
As shown in several of the examples described above, robotic medical systems can include a medical platform that includes a bed or table top. The medical platform can be configured to support a patient during a medical procedure, such as robotic endoscopy, robotic laparoscopy, open procedures, or others (see, for example,
Disclosed herein are mobile medical platforms that include a user input device, such as a controller, console, or pendant, to provide user control of at least some operations of the mobile medical platform. The input device allows a user to control the medical platform in different modes of operation, such as in an assisted mobility mode for providing power-assisted steering and propulsion to move the medical platform and in a table top control mode for positioning and orienting the table top for surgical procedures.
The mobile medical platform 200 also includes one or more powered wheel assemblies 227 (e.g., 227-1 through 227-4) coupled (e.g., rigidly coupled) to a first side 228 (e.g., a bottom side). The one or more powered wheel assemblies 227 are configured to provide power-assisted movement and transportation of the entire mobile medical platform 200, and to support and move the rigid base 221 in a physical environment. A respective wheel assembly of the one or more wheel assemblies 227 includes at least one motorized wheel (e.g., a wheel that is steered by a first motor, rolled by a second motor, or both). Additional details regarding mechanisms associated with functions and operations of the powered wheel assemblies 227 are described in U.S. Provisional Application Ser. No. 63/086,043, filed Sep. 30, 2020, which is incorporated by reference herein in its entirety.
In some embodiments, the mobile medical platform 200 also includes one or more robotic arms 205 (e.g., a single robotic arm, two or more robotic arms, a plurality of robotic arms), one or more adjustable arm supports 210, and/or one or more set-up joints 215. A respective robotic arm of the robotic arms 205 may be supported by one of the adjustable arm supports 210 and the adjustable arm support(s) 210 may be in turn be supported by the set-up joint(s) 215. A respective robotic arm of the robotic arms 205 may be coupled (e.g., mechanically coupled, movably coupled, etc.) to the table (e.g., via the rigid base 221 and bed column 220, etc.), to the rigid base 221 (e.g., via a moveable arm support), or to the table top 225. In some embodiments, the robotic arms 205 are manually, teleoperatively, and/or automatically movable (e.g., capable of tilting, panning, rotating, bending, and/or translating) relative to the rigid base 221, the arm support 210, and/or the table top 225.
In some embodiments, the mobile medical platform 200 includes medical equipment such as monitoring or imaging equipment attached to the one or more robotic arms 205. The mobile medical platform 200 may also include an onboard battery for wireless operation of the mobile medical platform 200 and/or an onboard power supply that can be plugged into an electrical socket to provide electricity for operation of the mobile medical platform 200. The one or more power wheel assemblies 227 are configured to provide power-assisted mobility to the mobile medical platform 200 and any equipment or persons that are support by, mounted on, coupled to, and/or on onboard, the mobile medical platform 200.
The mobile medical platform 200 also includes an input device (e.g., controller, pendant, bed pendant, portable device, handheld input device, etc.) that is configured to receive user inputs for controlling operations and functions of the mobile medical platform 200. For example, a user may provide user inputs at the input device for controlling a motion of the mobile medical platform 200 during power-assisted transportation of the mobile medical platform 200 (e.g., driving the mobile medical platform 200). In another example, the user may provide user inputs at the input device for adjusting a position of the table top 225 of the mobile medical platform 200.
In some embodiments, the mobile medical platform 200 includes one or more bars 223 disposed around a periphery of the mobile medical platform 200, such as around a periphery of the table top 225. The bar 223 is configured to stow (e.g., house, stow, store) the input device 201. In some embodiments, the mobile medical platform 200 includes a single bar 223 that surrounds a periphery of the mobile medical platform 200. In some embodiments, the mobile medical platform 200 includes a plurality of bars 223 that are disposed around the periphery of the mobile medical platform 200.
In some embodiments, the mobile medical platform 200 also includes a mount 222 disposed at a head end and/or a foot end of the mobile medical platform 200. In some embodiments, a user is able to provide user inputs at the input device 201 to control power-assisted mobility of the mobile medical platform 200 (e.g., provide user inputs to drive the mobile medical platform 200) while the input device 201 is mounted or stored on the mount 222. For example, a user may be able to provide one or more inputs at the input device 201 to steer the mobile medical platform 200 while pushing the mobile medical platform 200. In some embodiments, an operator of the mobile medical platform 200 may push the mobile medical platform 200 or control movement of the mobile medical platform 200 while walking alongside the mobile medical platform 200 while the mobile medical platform 200 is, for example, used to transport a patient.
In some embodiments, the input device 201 is configurable to be magnetically coupled (e.g., magnetically and removably mounted) onto the bar 223 and/or the mount 222 of the mobile medical platform 200.
The input device 201 can be stored (e.g., mounted, hooked, attached, etc.) on the bar 223 and the mount 222 in either a horizontal (e.g., landscape) orientation, or in a vertical (e.g., portrait) orientation, as shown in inset A. In some embodiments, the orientation of the input device 201 is locked when mounted. In some embodiments, the mount 222 is configured to allow the input device 201 to have any of a range or set of orientations and angles relative to the mount 222.
The input device 201 is configured to advantageously operate in at least two modes, including a mobility mode (also referred to herein as bed control mode) and a table top mode (also referred to herein as bed status mode). The input device 201 is configured to operate in a horizontal format while in the mobility mode, and to operate in vertical format while in the table top mode. In some embodiments, the operation in the vertical format is associated with a first range of angles and orientations (e.g., up to 60 degrees tilted backward, up to 30 degrees tilted left or right, etc., relative to an axis in the direction of gravity) with the input device held in the portrait orientation. In some embodiments, the operation in the horizontal format is associated with a second range of angles and orientations (e.g., up to 90 degrees tilted backward, up to 60 degrees tilted left or right, etc., relative to an axis in the direction of gravity) with the input device held in the landscape orientation.
In some embodiments, the mode of operation of the input device 201 is independent of the physical orientation of the input device 201. For example, while in the mobility mode, the input device 201 continues to operate in the mobility mode with a horizontal format regardless of a physical orientation of the input device 201 in space. Similarly, while in the table top mode, the input device 201 continues to operate in the table top mode with a vertical format even if a user rotates a physical orientation of the input device 201 from a vertical physical orientation to a horizontal or diagonal physical orientation. In such cases, changing a physical orientation of the input device 201 does not change an operational mode or operational format of the input device 201. In some embodiments, locking the operation mode of the input device 201 reduces accidental switching of operation modes when the user is operating the input device 201 and moving the input device 201 in the physical environment.
In some embodiments, the input device 201 is configured to operate in either the mobility mode or the table top mode based on a physical orientation of the input device 201. In such cases, the input device 201 is configured to transition (e.g., automatically switching) between the mobility mode and the table top mode based on a physical orientation of the input device 201. For example, when a user changes a physical orientation of the input device 201 from a vertical physical orientation to a horizontal physical orientation, the input device 201 transitions from the mobility mode of operation to the table top mode of operation. In some embodiments, the vertical physical orientation is associated with a first range of angles and orientations (e.g., up to 60 degrees tilted backward, up to 30 degrees tilted left or right, etc., relative to an axis in the direction of gravity) with the input device held in the portrait orientation. In some embodiments, the horizontal physical orientation is associated with a second range of angles and orientations (e.g., up to 90 degrees tilted backward, up to 60 degrees tilted left or right, etc., relative to an axis in the direction of gravity) with the input device held in the landscape orientation. In some embodiments, the automatic switching require one or more confirmation inputs or conditions to be met, such as a time threshold that the input device is held in a respective orientation, or a confirmation input provided on a touch-screen of the input device, etc.
Joysticks 212 are a respective type of user interface that includes a user interface, a hardware controller, or a combination thereof, that detects physical inputs provided by a user's hand(s) (e.g., via one or more sensors or mechanical means) and translates one or more characteristics of the inputs (e.g., magnitudes, directions, type, etc. of forces, moments, and/or movements, etc.) to corresponding control parameters and instructions for moving a controlled object, in accordance with some embodiments. The one or more joysticks 212 are configured to receive user input, such as movement and/or displacement of the joystick 212 from a center location or a neutral position of the joystick 212, in accordance with some embodiments. In some embodiments, the input device 201 is configured to receive various combinations of user inputs at the first joystick 212-1 and the second joystick 212-2, including receiving concurrent inputs and receiving sequential inputs.
In some embodiments, the input device 201 is configured to receive user input at the joystick 212 while operating in one or both of the mobility mode and the table top mode. In some embodiments, function and execution of the user input at the joystick 212 is dependent on which mode the input device 201 is currently operating in while the user input is received. In some embodiments, inputs that are received at the joystick 212 (either joystick 212-1 or 212-2) while input device is operating in the mobility mode corresponds to mobility functions of the mobile medical platform 200, such as power-assisted movement of the mobile medical platform 200, and/or such as steering and propulsion. Inputs that are received at the joystick 212 (either joystick 212-1 or 212-2) while input device 201 is operating in the table top mode corresponds to table top positioning and table top orientation functions of the mobile medical platform 200, such as translating and rotating the table top 225 relative to the rigid base 221.
In some embodiments, while the input device 201 is in the mobility mode, inputs received at the joysticks 212 correspond to mobility functions of the mobile medical platform 200. In some embodiments, the direction and magnitude of the movement of the one or more wheel assemblies 227 are determined based on the direction (e.g., left, right, forward, backward, clockwise, counterclockwise, etc.) and/or magnitude (e.g., duration, displacement, etc.) the inputs received via the first joystick 212-1, based on the direction (e.g., left, right, forward, backward, clockwise, counterclockwise, etc.) and/or magnitude (e.g., duration, displacement, etc.) the inputs received via the second joystick 212-2, or based on both. In some embodiments, while in the mobility mode, a first joystick 212-1 is configured to control an orientation (e.g., direction, heading, alignment) of the mobile medical platform 200 by controlling an orientation (e.g., steering) of the wheels of the one or more wheel assemblies 227. Thus, when user inputs are received at the first joystick 212-1, wheels of the one or more wheel assemblies 227 are steered or oriented in accordance with the user inputs at the first joystick 212-1. For example, by providing an input via the first joystick 212-1, a user may cause the mobile medical platform 200 to rotate or pivot clockwise or counterclockwise with negligible lateral movement (e.g., without lateral translation of the mobile medical platform 200). In some embodiments, while in the mobility mode, a second joystick 212-2 is configured to control propulsion (e.g., motion) of the mobile medical platform 200 by controlling propulsion of the wheels of the one or more wheel assemblies 227. Thus, when user inputs are received at the second joystick 212-2, wheels of the one or more wheel assemblies 227 are propelled in accordance with the user inputs at the second joystick 212-2 (e.g., in accordance with a direction or magnitude of the user input received at the second joystick 212-2). For example, by providing an input via the second joystick 212-2, a user may cause the mobile medical platform 200 to move laterally in any direction (left, right, forwards, backwards, diagonally, etc.) without rotating the mobile medical platform 200. In some embodiments, one or more processors of the mobile medical platform 200 determines respective movements for each wheel of the one or more wheel assemblies 227 based on a desired movement of the base specified by the inputs detected by the first and second joysticks 212-1 and 212-2, and instructs the one or more wheel assemblies 227 to move in a coordinated manner to achieve the desired movement of the base. Thus, operations of each wheel assembly 227 of the mobile medical platform 200 are automatically controlled and coordinated to achieve a movement or action as requested by a user via the input device 201.
In some embodiments, while the input device 201 is in the table top mode, inputs received at the joysticks 212 correspond to table top functions of the mobile medical platform 200. For example, while in the table top mode, the first joystick 212-1 is configured to control a position (e.g., control translation, raise/lower and slide towards head/feet, etc.) of the table top 225, in accordance with some embodiments. Thus, when user inputs are received at the first joystick 212-1, the table top 225 may be raised and lowered (e.g., moved up and down along the z-direction) and/or moved towards the head end or feet end of the mobile medical platform 200 (e.g., slide along a y-direction). In another example, while in the table top mode, the second joystick 212-2 is configured to control an orientation of the table top 225 (e.g., rotate the table top 225) around a lateral axis (e.g., pitch, Trendelenburg angle, into a Trendelenburg position or reverse-Trendelenburg position) and a longitudinal axis (e.g., roll, left/right rotation). In some embodiments, a single joystick (e.g., joystick 212-2) may be configured to receive user inputs for both translating and rotating the table top 225, and function of inputs received at the joystick 212 may be toggled via affordance(s) displayed on the display 214 or by depressing the joystick 212, for example.
In some embodiments, functions described with respect to the first joystick 212-1 and the second joystick 212-2 may be reversed. For example, while in the mobility mode, the first joystick 212-1 may be configured to provide steering of the mobile medical platform 200 and the second joystick 212-2 may be configured to provide propulsion of the mobile medical platform 200, or vice versa. Similarly, while in the table top mode, the first joystick 212-1 may be configured to provide translation of the table top 225 and the second joystick 212-2 may be configured to provide rotation of the table top 225, or vice versa.
In some embodiments, the joysticks 212-1 and 212-2 may be implemented as physical joysticks, as shown in
In some embodiments, as shown in
In some embodiments, the dynamically updated appearance of the visual indicators 211 corresponds to a direction of the movement input, and/or a direction of the requested movement of the mobile medical platform 200 as a whole. In some embodiments, the first visual indicator 211-1 and the second visual indicator 211-2 include light emitting devices that are configured to output a light of one or more of multiple selected colors, and visual indications provided by the first visual indicator 211-1 and the second visual indicator 211-2 are color coded such that a visual indication corresponding to a first color has a different meaning or different indication than a visual indication corresponding to a second color different from the first color. For example, outputting green light may be used as a visual feedback indicating that the pendant is receiving input and will execute the received input. In contrast, outputting red light may be used as a visual feedback indicating that the input device 201 is receiving input (e.g., the input is detected by the input device 201) but is unable to execute the received input (e.g., due to restrictions, input error), in accordance with some embodiments.
In some embodiments, the first visual indicator 211-1 associated with the first joystick 212-1 is disposed adjacent to the first joystick 212-1 (e.g., around a peripheral region of the first joystick 212-1, next to two or more boundary points of the input region of the first joystick 212-1, etc.). In some embodiments, the second visual indicator 211-2 associated with the second joystick 212-2 is disposed adjacent to the first joystick 212-2 (e.g., around a peripheral region of the second joystick 212-2, next to two or more boundary points of the input region of the second joystick 212-2).
In some embodiments, the display 214 is configured to provide (e.g., display) information reflecting a current operating mode and/or provide information regarding a status of the mobile medical platform 200 or the table top 225 of the mobile medical platform 200 while the input device 201 is operating in any of the mobility mode and the table top mode. In some embodiments, the display 214 is a touch-sensitive display (e.g., a touch screen display, a touch-sensitive surface integrated with visual indicators that provide dynamically updated visual feedback and visual prompt for inputs) that is configured to receive user inputs and gestures such as a tap (e.g., press), double tap, a swipe, etc. In such cases, the display 214 is, optionally, configured to display one or more affordances for viewing a status of the mobile medical platform 200 and/or controlling functions of the medical platform 200. For example, the display 214 may provide (e.g., display) an affordance to lock the input device 201 (e.g., ignore inputs at the input device 201 until unlocked) or an affordance to switch between operating the input device 201 the mobility mode and the table top mode, in accordance with some embodiments. In another example, the display 214 may provide (e.g., display) affordances for a user to view different statuses of the medical platform 200, such as viewing a tilt of the table top 225, or viewing a height of the table top 225, etc. In yet another example, the display 214 may provide (e.g., display) affordances for a user to view different mobility parameters of the mobile medical platform 200, such as a current speed, a turning radius, etc. In some embodiments, the display 214 is configured to provide display menu settings and/or input device 201 menu settings, in accordance with some embodiments.
In some embodiments, the display 214 is configured to display a first user interface (e.g., a first view of the user interface) while the input device 201 is in the mobility mode. While the input device 201 is in the mobility mode, the input device is configured to operate in a horizontal format such that the display 214 provides user interfaces corresponding to the mobility mode (e.g., first user interface, first view of the user interface, etc.) in a landscape orientation (e.g., corresponding to a first range of angles and orientations relative to a vertical axis in the direction of gravity), and joystick movement is based on a horizontal orientation (e.g., corresponding to a first range of angles and orientations relative to a vertical axis in the direction of gravity) of the input device 201. The first user interface is configured to display information (and optionally, affordances) related to mobility functions of the mobile medical platform 200. For example, while the input device 201 is operating in the mobility mode, the display 214 may display information regarding a speed of the mobile medical platform 200, a turning radius of the mobile medical platform 200, or an expected pathway of the mobile medical platform 200 based on user input at the input device 201. In another example, the display 214 may provide (e.g., display) one or more affordances, such as an affordance to place the wheels of the wheel assemblies 227 in a preset configuration (e.g., a preset braking configuration, a preset roll forward configuration, a preset circular motion configuration, etc.), in accordance with some embodiments.
In some embodiments, the display 214 is configured to display a second user interface (e.g., a second view of the user interface), that is different from the first user interface, while the input device 201 is in the table top mode. While the input device 201 is in the table top mode, the input device 201 is configured to operate in a vertical format such that the display 214 provides user interfaces corresponding to the table top mode (e.g., second user interface, second view of the user interface) in a vertical orientation (e.g., portrait orientation, a second range of angles and orientations relative to a vertical axis in the direction of gravity, etc.), and joystick movement is based on a vertical orientation (e.g., corresponding to a second range of angles and orientations relative to a vertical axis in the direction of gravity) of the input device 201. The second user interface is configured to display information (and optionally, affordances) related to table top functions of the mobile medical platform 200, in some embodiments. For example, while the input device 201 is operating in the table top mode, the display 214 may display information regarding a current position or orientation of the table top 225 relative to the rigid base 221. In another example, the display 214 may provide (e.g., display, enable, etc.) one or more affordances, that allows the user translate or rotate the table top 225 based on a gesture provided at the touch-sensitive display 214, in accordance with some embodiments.
In some embodiments, the display 214 may display information regarding an executed function, such as a maximum speed at which the mobile medical platform 200 was moved or an angle or position at which the table top 225 was placed. In some embodiments, the display 214 may display an error message or a warning message, such as when the input device 201 is disconnected from the mobile medical platform 200, when a user input is not allowed or not possible, if an obstruction is detected, or if a component of the mobile medical platform 200 is not functioning properly (e.g., wheel is not rotating). In some embodiments, the display 214 may display a notification or alert. For example, the display 214 may display an alert when the mobile medical platform 200 is reaching a safety speed limit or if a user input is received to initiate power-assisted mobility of the mobile medical platform 200 while the table top 225 or one or more robotic arms 205 is not in a position conducive to transportation of the mobile medical platform 200 (e.g., table top 225 is in a Trendelenburg or reverse Trendelenburg position, and/or one or more robotic arms are not stowed, etc.)
In some embodiments, the display 214 may provide (e.g., display) an affordance for switching from the mobility mode to the table top mode, or vice versa. In some embodiments, the display 214 may provide (e.g., display, enable, etc.) an affordance for locking and/or unlocking the input device 201 (e.g., placing the input device 201 in a locked mode such that inputs received at the input device 201 are ignored until the input device 201 is unlocked, and unlocking the input device 201 from the locked mode such that the input device 201 responds to received user inputs). In some embodiments, the display 214 may provide (e.g., display, enable, etc.) an affordance for locking and/or unlocking mobility functions the mobile medical platform 200 (e.g., placing and/or releasing the wheels of the wheel assemblies 227 in/from a preset braking configuration to prohibit or restrict motion of the mobile medical platform 200).
In some embodiments, the display 214 is a color display, such as a display based on LCD, LED, and/or other presently available or future developed display technologies, etc.
In some embodiments, the one or more affordances 216 (e.g., control affordances) of input device 201 may correspond to specific functions of the mobile medical platform 200, such as changing a height of the table top 225 relative to the rigid base 221 of the mobile medical platform 200 or a preset set orientation of the table top 225 of the mobile medical platform 200. Each affordance of the one or more affordances 216 includes an icon that illustrates the function of the affordance. For example, affordance 216-1 corresponds to tilting the table top 225 into a Trendelenburg position such that the head end of the table top 225 (e.g., an end of the table top 225 where a patient's head would be located) is lower than the feet end (e.g., an end of the table top 225 where a patient's feet would be located) of the table top 225, in accordance with some embodiments.
In some embodiments, the one or more affordances 216 of input device 201 may include an emergency stop (e.g., hardwired emergency stop) affordance configured to halt all operations of the mobile medical platform 200 when activated (e.g., when pressed, depressed). For example, in response to activation (e.g., pressing, depression) of the emergency stop affordance, any functions of the mobile medical platform 200 that are being executed are immediately halted. Halting functions of the mobile medical platform 200 may include manual and power-assisted mobility functions such that the mobile medical platform 200 is immediately immobilized (e.g., brakes are applied, wheels are oriented in a predefined braking configuration) or propulsion of the mobile medical platform 200 is ceased. Halting functions of the mobile medical platform 200 may also include movement of the table top 225 and/or movement of the one or more robotic arms 205.
In some embodiments, the one or more affordances 216 includes one or more control affordances, such as lock control affordance 216-2 and unlock control affordance 216-3. The lock control affordance 216-2 corresponds to locking the mobile medical platform 200 (e.g., placing the wheels of the wheel assemblies 227 in a preset braking configuration to prohibit or restrict motion of the mobile medical platform 200), and the unlock control affordance 216-3 corresponds to unlocking the mobile medical platform 200 (e.g., releasing the wheels of the wheel assemblies 227 from the preset braking configuration to allow motion of the mobile medical platform 200, or placing the wheels of the wheel assemblies 227 in a preset mobile configuration such as a roll forward configuration or a circular motion configuration to allow for motion of the mobile medical platform 200, etc.). In some embodiments, the input device 201 automatically operates in the mobility mode in response to activation (e.g., depression) of the unlock control affordance 216-3. For example, depression of the unlock control affordance 216-3 while the input device 201 is in the mobility mode allows the input device 201 to continue to operate in the mobility mode, and depression of the unlock control affordance 216-3 while the input device 201 is in the table top mode automatically transitions (e.g., switches) the input device 201 to operate in the mobility mode. In some embodiments, the input device 201 automatically operates in the table top mode in response to activation (e.g., depression) of the lock control affordance 216-2. For example, depression of the lock control affordance 216-2 while the input device 201 is in the table top mode allows the input device 201 to continue to operate in the table top mode, and depression of the lock control affordance 216-2 while the input device 201 is in the mobility mode automatically transitions (e.g., switches) the input device 201 to operate in the table top mode, in accordance with some embodiments.
In some embodiments, the lock control affordance 216-2 and the unlock control affordance 216-3 are presented (e.g., combined, incorporated) as a single control affordance (e.g., one button). In such cases, depression of the lock/unlock control affordance at a first time corresponds to locking the mobile medical platform 200 (e.g., placing the mobile medical platform 200 in a locked or stationary mode) and depression of the lock/unlock control affordance at a second time after the first time corresponds to unlocking the mobile medical platform 200 (e.g., placing the mobile medical platform 200 in an unlocked or transport mode) such that subsequent depressions of the lock/unlock control affordance toggles between locking and unlocking the mobile medical platform 200.
In some embodiments, activation (e.g., pressing, engaging, disengaging, toggling, etc.) of the control affordance (e.g., the lock control affordance 216-2, unlock control affordance 216-3, etc.) switches (e.g., toggles) between multiple modes (e.g., the first and second modes, and optionally, additional mode(s)) of operation. In some embodiments, the control affordance is a physical button or a physical switch, lever, or other multi-state physical control.
In some embodiments, the motion control affordance 218 is associated with preset criteria for mobilizing or braking the mobile medical platform 200. For example, the preset criteria may require detection of user input at the motion control affordance 218 (e.g., the motion control affordance 218 is activated, initiated, pressed, depressed, etc.) in order to initiate and/or allow continued movement of the mobile medical platform 200 or in order to initiate and/or continue propulsion and orientation of the wheels of the wheel assemblies 227. In another example, the preset criteria may require that user input at the motion control affordance 218 is maintained (e.g., constantly depressed, activated, pressed, etc.) while the mobile medical platform 200 and/or the wheels of the wheel assemblies 227 are in motion. For example, in accordance with a determination that the motion control affordance 218 is activated (e.g., is pressed, depressed, etc.) and a determination that user input is received at a joystick 212, motion (e.g., movement, transport, steering, etc.) of the mobile medical platform 200 is allowed (e.g., the wheels can be rolled manually or via power-assisted mobility, movement of the wheels are not restricted, etc.). In another example, in accordance with a determination that the motion control affordance 218 is not activated and a determination that user input is received at a joystick 212, motion (e.g., movement, transport, steering, etc.) of the mobile medical platform 200 is prohibited (e.g., the wheels are locked, wheels cannot be rolled manually or via power-assisted mobility, movement of the wheels are restricted, movement of the wheels are prohibited, etc.).
In some embodiments, activation (e.g., pressing, engaging, disengaging, toggling, etc.) of the motion control affordance 218 automatically transitions the input device 201 to the mobility mode independently of whether or not the unlock control affordance 216-3 is activated (e.g., pressed, depressed, etc.).
In some embodiments, the first and second joysticks 212-1 and 212-2 are disposed on a first side (e.g., front side, display side, etc.) of the input device 201, as shown in
The input device 201 is configured to receive different user input types, including touch inputs (such as gestures, swipes, taps, press and hold, etc.), joystick inputs (such as joystick movement, joystick displacement, joystick tilt and rotation relative to an axis or pivot, etc.), and touch inputs (such as touch and hold, pressing, or depressing on a physical affordance, a touch-sensitive surface or button, etc.). The input device 201 is configured to receive any combination of the different input types, such as a combination of multiple preset input modalities. In some embodiments, the input device 201 is configured to simultaneously receive a plurality of inputs of different input types, such as touching or depression of the motion control affordance 218 detected in conjunction with (e.g., concurrently with, within a preset time window of, during overlapping time periods, etc.) movement of a joystick 212.
In some embodiments, the input device 201 is configured to receive user inputs corresponding to movement of the mobile medical platform 200 while the input device 201 is in the mobility mode, and to receive user inputs corresponding to positioning and orientation of the table top 225 while the input device 201 is in the table top mode. Thus, while the input device 201 is in the mobility mode, inputs received at affordances corresponding to table top 225 positioning or table top 225 orientation are ignored (e.g., locked, disabled), in accordance with some embodiments. For example, while the input device 201 is in the mobility mode, a button press at affordance 216-1 is ignored (e.g., does not result in an executed function at the mobile medical system 200), in accordance with some embodiments. Similarly, while the input device 201 is in the table top mode, inputs received at affordances corresponding to movement of the mobile medical platform 200 are ignored (e.g., locked, disabled, not executed), in accordance with some embodiments. For example, while in the table top mode, wheels of the wheel assemblies 227 are locked or in aligned (e.g., oriented) in a preset braking configuration to prohibit movement (e.g., transportation) of the mobile medical platform 200; however, inputs at the motion control affordance 218, the lock control affordance 216-2, and the unlock control affordance 216-3 are accepted (e.g., not ignored) during operation of the input device 201 in any of the mobility mode and the table top mode as those affordances can be used to transition (e.g., toggle, switch) between modes of operation, in accordance with some embodiments. In some embodiments, the input device 201 is configured to operate in one mode at any given time. Thus, operation of the input device 201 in the mobility mode concurrently with operation of the input device 201 in the table top mode is not allowed (e.g., cannot simultaneously control movement of the mobile medical platform 200 and positioning/orientation of the table top 225), in accordance with some embodiments. For example, while in the mobility mode, the input device 201 is configured to receive inputs to control mobility or movement the mobile medical platform 200 without changing the position or orientation of the table top 225 (e.g., without changing the status of the mobile medical platform 200, while prohibiting changes to the position and orientation of the table top 225), in accordance with some embodiments. While in the table top mode, the input device 201 is configured to receive inputs to control position and orientation of the table top 225 without changing moving or mobilizing the mobile medical platform 200 (e.g., the mobile medical platform remains stationary and cannot be moved while controls to change a position or orientation of the table top 225 received at the input device 201 are executed), in accordance with some embodiments.
In some embodiments, the input device 201 includes one or more actuators for providing haptic feedback (e.g., vibrations) in response to user input. The haptic feedback can be provided in addition to or in lieu of visual feedback, in some embodiments. For example, in some embodiments, in response to receiving user input that cannot be executed, the input device 201 vibrates to alert to user that the requested function(s) cannot be executed. Depending on the input received at the input device 201, the input device 201 may provide visual feedback, haptic feedback, or a combination or both visual and haptic feedback, in accordance with some embodiments.
In some embodiments, the input device 201 includes an accelerometer (e.g., 3-axis accelerometer, a gyro, a motion sensor) that can detect a motion of the input device 201 (including changes in a physical orientation of the input device 201). For example, the input device 201 may determine that the input device 201 is in a falling motion when the accelerometer reading exceeds a threshold value or when a rate of change in the movement speed of the input device 201 is greater than a threshold rate, in accordance with some embodiments. In some embodiments, in response to detecting a falling motion of the input device 201 (e.g., via the accelerometer), the input device 201 activates a lock-out mode in which user inputs (e.g., any user inputs, including button presses, joystick movements, touch screen contacts) directed to the input device 201 are ignored (e.g., not detected, not processed). In some embodiments, the lock-out mode may also include orienting motorized wheels of the wheel assemblies 227 in a predefined braking configuration.
In some embodiments, a mode of operation of the input device 201 is independent on a physical orientation of the input device 201. In such cases, while the input device is operating in a specific mode (either the mobility mode or the table top mode), the input device 201 continues to operate in the same mode until a user provides an input to switch operation in a different mode, regardless of a physical orientation of the input device 201. In some embodiments, a mode of operation of the input device 201 is dependent on a physical orientation of the input device 201. In such cases, the input device 201 automatically operates in the mobility mode when a horizontal (e.g., landscape) orientation of the input device 201 is detected, and automatically operates in the table top mode when a vertical (e.g., portrait) orientation of the input device 201 is detected. In such cases, in response to detecting a change in the physical orientation of the input device 201, such as a change from the from a horizontal orientation to a vertical orientation, the input device 201 automatically transitions from operation in the mobility mode to operating in the table top mode.
In some embodiments, the input device 201 includes a wired connection 219 (e.g., electrical wire) that provides an electrical connection between the input device 201 and the mobile medical platform 200.
In some embodiments, the visual indicator 211 is divided into a plurality of portions. For example, the visual indicator 211 may be divided into quadrants corresponding to the up, down, left, and right directions. In another example, the visual indicator 211 may be divided into eight portions corresponding to the up, down, left, right, and diagonal directions. In the example shown in
In some embodiments, the visual indicator 211 may be configured to output light having a plurality of colors. For example, the visual indicator 211 may output red light in response to detection of user input that is not allowed (e.g., is not accepted, is not executed). Alternatively, the visual indicator 211 may output green light in response to detection of user input that is allowed (e.g., is accepted, is executed).
In some embodiments, while the input device 201 is in the mobility mode, the display 214 may display a user interface 230 that provides information and/or feedback regarding inputs received (e.g., detected) at the input device 201. For example, the display 214 may display a current speed of the mobile medical platform 200 while a user is moving (e.g., driving) the mobile medical platform 200 via inputs provided at the input device 201.
Referring to
Referring to
In some embodiments, the wheels of the wheel assemblies 227 of the mobile medical platform 200 are automatically oriented in the linear motion configuration shown in
In some embodiments, a user may provide input at the input device 201 for the mobile medical platform 200 to be manually moveable, where power-assisted mobility may be used for orienting the wheels of the wheel assemblies 227 but not for propelling (e.g., rolling) the wheels.
Referring to
In some embodiments, the wheels of the wheel assemblies 227 are automatically oriented in the preset braking configuration shown in
Additional details regarding mechanisms associated with movement of the table top 225 are described in U.S. patent application Ser. No. 16/810,469, filed Mar. 5, 2020, and U.S. Provisional Application Ser. No. 63/086,038, filed Sep. 30, 2020, each of which is incorporated by reference herein in its entirety.
In some embodiments, the input device 201 may include one or more affordances (such as affordances 216 or an affordance provided via the display 214) to position the sections 243-246 of the table top 225 in predefined positions or preset poses, such as a Trendelenburg position or a reverse Trendelenburg position, for example.
The method 2500 includes receiving (2510) a first user input of a first input type (e.g., touch inputs such as tap, swipe, press, touch and hold; joystick movement; press inputs; a combination of multiple preset input modalities) at the input device 201 that is in communication with the mobile medical platform 200. The method 2500 also includes, in response to receiving the first user input of the first input type at the input device 201 and in accordance with a determination that the first user input meets first criteria, initiating (2512) first movement of at least one motorized wheel of the mobile medical platform 200 in accordance with the first user input of the first input type. In some embodiments, the medical platform includes table that includes a rigid base 221 and a table top 225. The mobile medical platform includes one or more wheel assemblies 227 that are coupled to the rigid base 221. The one or more wheel assemblies 227 support and move the rigid base 221 in a physical environment and a respective wheel assembly of the one or more wheel assemblies 227 includes at least one motorized wheel. The first criteria may include, for example, criteria for recognizing an input that corresponds to a request to control the mobility of the mobile medical platform 200 (e.g., control movement or transport of the mobile medical platform 200) by controlling the at least one motorized wheel (e.g., locking, unlocking, turning, rolling, stopping, pivoting, etc. one or more of the at least one motorized wheel), including a combination of conditions, thresholds, and/or input type requirements, etc.). For example, the first criteria may include detecting activation (e.g., pressing, depression, press and hold) of the motion control affordance 218 in combination with joystick movement, in accordance with some embodiments.
In some embodiments, the method 2500 also includes receiving (2520) a second user input of a second input type via the input device 201. In some embodiments, the second input is a separate or different input of than the first input. The second input type may be a same input type as the first input type (e.g., both input types are movements or a joystick or pressing of button), or the second input type may be a different input type from the first input type (e.g., the first input type is a button press and the second input type is a joystick movement). For example, the first input may be a joystick movement and the second input may be button press. In another example, the first and second inputs may be button presses at an affordance (such button press at one of the affordances 216) of the input device 201. The method 2500 further includes, in response to receiving the second user input of the second input type at the input device 201 and in accordance with a determination that the second user input meets second criteria, initiating (2522) second movement of a table top 225 of the mobile medical platform 200 relative to the rigid base 221 in accordance with the second user input of the second input type (e.g., tilting, rotating, translating vertically, translating horizontally the table top 225 relative to the rigid base 221). For example, second criteria for recognizing an input that corresponds to a request to control the position and orientation of the table top 225 relative to the rigid base 221 (e.g., by controlling one or more motors coupled to the table top 225 (e.g., between the table top 225 and the rigid base 221, to the table top 225), including a combination of conditions, thresholds, and/or input type requirements).
In some embodiments, the method 2500 includes, in accordance with a determination that the input device 201 is in a first operation mode (e.g., mobility mode, bed control mode), presenting (e.g., 2530) a first user interface 230 (e.g., user interface 230-1 or 230-2) on a touch sensitive display 214 of the input device 201 for controlling mobility of the mobile medical platform 200, including displaying one or more affordances (e.g., affordance 231) for controlling the at least one powered wheel.
In some embodiments, the method 2500 includes, in accordance with a determination that the input device 201 is operating in the first mode (e.g., mobility mode, bed control mode), displaying (2540) a first user interface 230 with a first orientation (e.g., horizontal orientation, landscape orientation, etc.) on the touch sensitive display 214, including displaying one or more first affordances (such as affordance 231, shown in
In some embodiments, the method 2500 includes, in accordance with a determination that the input device 201 is operating in a third mode (e.g., arm control mode), displaying a third user interface for controlling arms (e.g., robotic arms 205) of the mobile medical platform 200, including one or more affordances for placing the one or more robotic arms 205 in one or more predefined positions (e.g., dock arms for transport, dock arms for stowing, etc.), one or more affordances corresponding saved user settings that are stored in the memory (e.g., less commonly used motions, stored movement commands, saved memory settings, customized functions, etc.). In some embodiments, while the input device 201 has a vertical format while operating in the third mode. In such cases, display 214 provides the third user interface in a vertical orientation (e.g., portrait orientation). In some embodiments, the third user interface includes one or more affordances for controlling movement of the one or more robotic arms 205 (e.g., stowing the robotic arms, docking the robotic arms, etc.).
In some embodiments, the method 2500 further includes, in accordance with activating a motion control affordance 218 of the input device 201 while receiving user inputs by at least one of a first joystick 212-1 and a second joystick 212-2 of the input device 201, enabling (2550) a movement control function of the first joystick 212-1 and the second joystick 212-2. For example, in accordance with a determination that user inputs are received at both a joystick 212 and the motion control affordance 218, execute a movement of the mobile medical platform 200 in accordance with the user input received at the joystick 212. The method also includes, in accordance with a determination that the first motion control affordance 218 is not activated while receiving user inputs by at least one of the first joystick 212-1 and the second joystick 212-2, disabling (2552) the movement control function of the first joystick 212-1 and the second joystick 212-2. For example, in accordance with a determination that user input is received at a joystick 212 and user input is not received at the motion control affordance 218, the user input received at the joystick 212 is not executed (e.g., ignored). In some embodiments, the display 214 may provide an indication or reminder for the user to activate the motion control affordance 218 in order to execute inputs received at the input device 201.
In some embodiments, the method 2500 further includes, in accordance with receiving a movement input at the first joystick 212-1, providing (2560) a first visual indicator in accordance with characteristics of the movement input received via the first joystick 212-1. The method 2500 also includes, in accordance with receiving a movement input at the second joystick 212-2, providing (2562) a second visual indicator in accordance with characteristics of the movement input received via the second joystick 212-2. For example, the visual indicator 211-1 may output light to indicate detection of an input at the first joystick 212-1 associated with the visual indicator 211-1. In another example, at least a portion of visual indicator 211-2 may output light to indicate detection of an input at the second joystick 212-2 associated with the visual indicator 211-2.
In some embodiments, the method 2500 also includes, in response to activating (e.g., pressing, engaging, disengaging) a control affordance (e.g., an affordance that combines the functions of lock control affordance 216-2 and unlock control affordance 216-3) of the input device at a first time, transition from operating the input device 201 in a first mode to operating the input device 201 in a second mode that is different from the first mode. The method also includes, in response to activating (e.g., pressing, engaging, disengaging) the control affordance of the input device at a second time after the first time, transitioning (2572) from operating the input device 201 from the second mode to operating the input device 201 in the first mode.
In some embodiments, the method 2500 further includes, in accordance with a determination that the input device 201 is operating in the first mode, orienting (2580) the motorized wheels of the one or more wheel assemblies 227 in a first predefined configuration (e.g., linear motion configuration shown in
In some embodiments, the first predefined configuration includes any of: (i) orienting the wheels in the same direction for manual linear movement (as shown in
In some embodiments, the method further includes, in response to detecting a falling motion of the input device 201 using an accelerometer of the input device 201, activating (2590) a lock-out mode in which user inputs directed to the input device 201 are ignored.
The method 2600 includes, in accordance with a determination that the input device 201 for controlling the mobile medical platform 200 is operating in a first mode (e.g., mobility mode, bed control mode) (e.g., determined in accordance with a current orientation of the input device being in a first orientation, and/or optionally, in accordance with activation of a motion control affordance 218), displaying (2610) a first view 230 of a user interface (e.g., user interface 230) that corresponds to the first mode via a display 214 of the input device 201. The input device includes a first input interface that is configured to receive user inputs of a first input type. The first view 230 provides visual feedback regarding first movement (e.g., rolling, steering, or both) of a rigid base 221 of the mobile medical platform system 100 that is initiated in accordance with a first user input of an input type received at the input device 201.
In some embodiments, the method 2600 includes, in accordance with a determination that the input device 201 is in a first physical orientation (e.g., horizontal orientation, landscape orientation) relative to a physical environment, operating the input device 201 in the first mode. The method 2600 also includes detecting a change in a physical orientation of the input device 201 from the first orientation to a second orientation (e.g., vertical orientation, portrait orientation) that is different from the first orientation, and in accordance with a determination that the input device 201 is in a second orientation relative to the physical environment, operating the input device 201 in the second mode. In some embodiments, operation of the input device 201 in the first mode corresponds to controlling power-assisted mobility functions of the mobile medical platform 200, such as driving (e.g., propelling, steering) the mobile medical platform 200. In some embodiments, operation of the input device 201 in the second mode corresponds to controlling table top functions of the mobile medical platform 200, such as reviewing table top 225 position, controlling table top functions and/or robotic arm functions, including stowing robotic arms, translating/tilting/pitching table top 225, and flexing or moving sections (e.g., sections 243-246) of the table top 225.
In some embodiments, displaying (2612) the first view 230 of the user interface corresponding to the first mode includes displaying the user interface in a first orientation (e.g., horizontal orientation, landscape orientation).
In some embodiments, displaying (2632) the second view 240 of the user interface corresponding to the second mode includes displaying the user interface in a second orientation (e.g., vertical orientation, portrait orientation) that is different from the first orientation.
In some embodiments, the method 2600 also includes, in response to receiving a movement input at a first joystick 212-1 of the input device 201, providing (2640) a first visual indication (e.g., via the visual indicator 211-1) in accordance with characteristics of the movement input received via the first joystick 212-1. The method also includes, in response to receiving a movement input at a second joystick 212-2 of the input device 201, providing (2642) a second visual indication (e.g., via the visual indicator 211-2) in accordance with characteristics of the movement input received via the second joystick 212-2.
In some embodiments, the method 2600 further includes in response to activating a motion control affordance 218 of the input device 201 is activated while receiving user inputs by at least one of the first joystick 212-1 and the second joystick 212-2, enabling (2650) a movement control function of the first joystick 212-1 and the second joystick 212-2. The method also includes, in accordance with a determination that the motion control affordance 218 is not activated while user inputs are received by at least one of the first joystick 212-1 and the second joystick 212-2, disable the movement control function of the first joystick 212-1 and the second joystick 212-2.
In some embodiments, the method 2600 also includes in response to activating a motion control affordance 218 of the input device 201 while the input device 201 is in the second mode, automatically transitioning (2660) the input device 201 from the second mode to the first mode.
In some embodiments, the method 2600 further includes, in response to detecting the transition event that transitions the input device 201 from the first mode to the second mode while the input device 201 is in the second mode, orienting (2670) motorized wheels of one or more wheel assemblies 227 of the mobile medical platform 200 in a predefined braking configuration to restrict movement of the mobile medical platform system 200. The method also includes detecting (2672) a second transition event that transitions the input device 201 from the second mode to the first mode, and in response to detecting the second transition event that transitions the input device 201 from the second mode to the first mode while the input device 201 is in the first mode, orienting (2674) the motorized wheels of the one or more wheel assemblies 227 in a first predefined configuration (such a linear motion configuration shown in
In some embodiments, the method 2600 also includes, in response to detecting a falling motion of the input device 201 via an accelerometer of the input device 201, activating (2680) a lock-out mode of the input device in which user inputs directed to the input device are ignored.
In some embodiments, the method 2600 includes, in response to detecting a falling motion of the input device 201, orienting the motorized wheels of the one or more wheel assemblies 227 in the predefined braking configuration shown in
Embodiments of the disclosure relate to systems and techniques for receiving user input at an input device for controlling functions of a mobile medical platform, such as a hospital bed or a surgical table.
The mobile medical platform 200 includes one or more processors 2700, which are in communication with a computer readable storage medium 2720 (e.g., computer memory devices, such as random-access memory, read-only memory, static random-access memory, and non-volatile memory, and other storage devices, such as a hard drive, an optical disk, a magnetic tape recording, or any combination thereof) storing instructions for performing any methods described herein (e.g., operations described with respect to
Embodiments disclosed herein provide systems, methods and apparatus for controlling operation of mobile medical platforms with power-assisted mobility and power-assisted table top positioning.
It should be noted that the terms “couple,” “coupling,” “coupled” or other variations of the word couple as used herein may indicate either an indirect connection or a direct connection. For example, if a first component is “coupled” to a second component, the first component may be either indirectly connected to the second component via another component or directly connected to the second component.
The functions of the user device to control operations for power-assisted mobilization and power-assisted table top positioning of a mobile medical platform described herein may be stored as one or more instructions on a processor-readable or computer-readable medium. The term “computer-readable medium” refers to any available medium that can be accessed by a computer or processor. By way of example, and not limitation, such a medium may comprise random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, compact disc read-only memory (CD-ROM) or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. It should be noted that a computer-readable medium may be tangible and non-transitory. As used herein, the term “code” may refer to software, instructions, code or data that is/are executable by a computing device or processor.
The methods disclosed herein comprise one or more steps or actions for achieving the described method. The method steps and/or actions may be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is required for proper operation of the method that is being described, the order and/or use of specific steps and/or actions may be modified without departing from the scope of the claims.
As used herein, the term “plurality” denotes two or more. For example, a plurality of components indicates two or more components. The term “determining” encompasses a wide variety of actions and, therefore, “determining” can include calculating, computing, processing, deriving, investigating, looking up (e.g., looking up in a table, a database or another data structure), ascertaining and the like. Also, “determining” can include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory) and the like. Also, “determining” can include resolving, selecting, choosing, establishing and the like.
The phrase “based on” does not mean “based only on,” unless expressly specified otherwise. In other words, the phrase “based on” describes both “based only on” and “based at least on.”
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the scope of the invention. For example, it will be appreciated that one of ordinary skill in the art will be able to employ a number of corresponding alternative and equivalent structural details, such as equivalent ways of fastening, mounting, coupling, or engaging tool components, equivalent mechanisms for producing particular actuation motions, and equivalent mechanisms for delivering electrical energy. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Some embodiments or implementations are described with respect to the following clauses:
Clause 1. A mobile medical platform system, comprising:
Clause 2. The mobile medical platform system of clause 1, wherein:
Clause 3. The mobile medical platform system of clause 1 or 2, wherein the first input device is a pendant that is coupled to the table.
Clause 4. The mobile medical platform system of any of clauses 1-3, wherein the first input device includes a first joystick and a second joystick.
Clause 5. The mobile medical platform system of clause 4, wherein the first input device includes a motion control affordance, and wherein the memory further stores instructions, which, when executed by the one or more processors, cause the processors to:
Clause 6. The mobile medical platform system of clause 4 or 5, including:
Clause 7. The mobile medical platform system of any of clauses 1-6, wherein the first input device includes a touch sensitive display, and wherein the memory further stores instructions, which, when executed by the one or more processors, cause the processors to:
Clause 8. The mobile medical platform system of any of clauses 1-7, wherein the first input device includes a control affordance, and wherein the memory further stores instructions, which, when executed by the one or more processors, cause the processors to:
Clause 9. The mobile medical platform system of clause 8, wherein the first input device includes a display, the memory further stores instructions, which, when executed by the one or more processors, cause the processors to:
Clause 10. The mobile medical platform system of clause 8 or 9, wherein the memory further stores instructions, which, when executed by the one or more processors, cause the processors to: in accordance with a determination the first input device is operating in the first mode, orienting the motorized wheels of the one or more wheel assemblies in a first predefined configuration to enable movement of the base in the physical environment; and
Clause 11. The mobile medical platform system of any of clauses 1-10, wherein first input device includes an accelerometer, and the memory further stores instructions, which, when executed by the one or more processors, cause the processors to:
Clause 12. An input device for controlling a mobile medical platform system that includes a bed, a base, and one or more robotic arms, the input device comprising:
Clause 13. The input device of clause 12, wherein:
Clause 14. The input device of clause 12 or 13, further comprising:
Clause 15. The input device of clause 14, further comprising:
Clause 16. The input device of clause 14 or 15, further comprising:
Clause 17. The input device of clause 16, wherein the memory further stores instructions, which, when executed by the one or more processors, cause the processors to:
Clause 18. The input device of any of clauses 12-17, further comprising:
Clause 19. The input device of any of clauses 12-18, wherein:
Clause 20. The input device of any of clauses 12-19, further comprising:
This present application is a continuation of International Patent Application PCT/IB2021/061420 filed Dec. 7, 2021 and entitled “PENDANT FOR MOBILE MEDICAL PLATFORMS,” which claims priority to U.S. Provisional Application No. 63/132,437 filed Dec. 30, 2020 and entitled, “PENDANT FOR MOBILE MEDICAL PLATFORMS,” both of which are incorporated herein by reference in their entirety for all purposes.
Number | Date | Country | |
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63132437 | Dec 2020 | US |
Number | Date | Country | |
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Parent | PCT/IB2021/061420 | Dec 2021 | US |
Child | 18342096 | US |