Operating a medical-robotic device and a medical-robotic device

Patent metadata

Field	Value
Publication number	US-10130435-B2
Application number	US-201514998133-A
Country	US
Kind code	B2
Filing date	Dec 23, 2015
Priority date	Dec 23, 2014
Publication date	Nov 20, 2018
Grant date	Nov 20, 2018

Abstract

A method for operating a medical-robotic device is provided. The robotic device includes a number of components able to be moved autonomously in an environment of the robotic device. Planning data for an autonomous movement or constraint of at least one subset of the movable components is provided to the robotic device. A movement or constraint of the corresponding movable components to be carried out autonomously by the robotic device is planned based on the planning data provided. The planned movement or constraint is visually presented. A way for an operator to exert influence on the planned movement or constraint is provided, and the movement or constraint is autonomously carried out as a function of the influence exerted.

First claim

The invention claimed is:

1. A method for operating a medical-robotic device, wherein the medical-robotic device includes a number of components that are moveable autonomously in an environment of the medical-robotic device, the method comprising:
providing planning data for a constraint of at least one subset of the movable components to the medical-robotic device;
planning a movement of the corresponding movable components to be carried out autonomously by the medical-robotic device based on the planning data provided including the constraint;
visually presenting the planned movement or the constraint;
providing an input allowing an operator to exert influence on the planned movement or the constraint;
autonomously carrying out the movement as a function of the influence exerted.

2. The method of claim 1 , wherein the input is configured to adapt an execution sequence of the planned movement or the constraint.

3. The method of claim 2 , further comprising:
adapting the execution sequence of the planned movement or the constraint via the input before the autonomous carrying out of the movement; and
visually presenting the adapted planned movement or the constraint.

4. The method of claim 1 , further comprising:
requesting a confirmation from the operator for the planned movement or the constraint via the input before the autonomous carrying out of the movement,
wherein the autonomous carrying out is only done if the confirmation is provided by the operator.

5. The method of claim 1 , wherein the visual presentation comprises a presentation of the movable components of the medical-robotic device.

6. The method of claim 1 , wherein the visual presentation comprises a presentation of a patient or of an anatomical sub-area of the patient.

7. The method of claim 6 , wherein the presentation of the patient or of the anatomical sub-area of the patient is based on one or more recorded images of the patient or of the anatomical sub-area.

8. The method of claim 7 , wherein the one or more recorded images comprise an x-ray image, a magnetic resonance tomography image, a computed tomography image, a positron emission tomography image, a segmented recorded image, an image-registered recorded image, or any combination thereof.

9. The method of claim 6 , further comprising:
calculating a distance of a movable component from a predetermined anatomical structure of the patient for at least a part of the planned movement,
wherein the visual presentation comprises a presentation of the calculated distance, a variable derived from the calculated distance, or a combination thereof.

10. The method of claim 9 , wherein the variable derived from the calculated distance comprises a maximum distance, a minimum distance, an average distance, or any combination thereof.

11. The method of claim 9 , further comprising outputting an acoustic warning signal, a visual warning signal, a haptic warning signal, or any combination thereof when the distance, the variable derived from the distance, or a combination thereof is less than a predetermined threshold value.

12. The method of claim 9 , further comprising taking account of a predetermined movement of the anatomical structure during the calculation of the distance, the variable derived from the distance, or a combination thereof.

13. The method of claim 12 , wherein the predetermined movement of the anatomical structure comprises a movement caused by a heartbeat or by breathing.

14. The method of claim 1 , wherein visually presenting the planned movement or constraint comprises displaying the planned movement or the constraint on the patient or on the anatomical sub-area of the patient by a projection by an optical pointer.

15. The method of claim 14 , wherein the optical pointer comprises a light beam or a laser beam.

16. The method of claim 14 , further comprising mechanically, electronically, or mechanically and electronically aligning the optical pointer based on the planned movement or the constraint.

17. The method of claim 1 , further comprising obtaining an image or a sequence of images of an environment of the movable components by an imaging instrument belonging to the medical-robotic device,
wherein visually presenting the planned movement or the constraint comprises overlaying the image obtained or the image sequence obtained with a presentation of the planned movement or constraint.

18. The method of claim 17 , wherein the image or sequence of images comprises a film, and
wherein the medical-robotic device comprises an endoscope or a laparoscope.

19. The method of claim 1 , wherein the planning data further comprises data for a movement of at least one subset of the movable components to the medical-robotic device.

20. The method of claim 1 , wherein the constraint is a limit on a mobility of at least one subset of the movable components to the medical-robotic device.

21. A medical-robotic device comprising:
a number of components moveable autonomously in an environment of the medical-robotic device,
wherein the medical-robotic device is configured, for at least a subset of the movable components based on the planning data provided, autonomously to plan a movement based on a constraint of the movement and to move the corresponding movable components, and
wherein the medical-robotic device is also configured, before the carrying out of an autonomous movement of the corresponding movable components, to visually present the planned movement or the constraint and to provide an input for the operator to exert influence on the planned movement or the constraint.

22. The medical-robotic device of claim 21 , wherein the medical-robotic device is operable in an operating mode in which the visual presentation of the planned movement or the constraint and the provision of the input are done before any autonomous carrying out of a movement of the corresponding movable components.

Assignees

• Mewes Philip
• Wiets Michael
• Siemens Ag

Inventors

• Mewes Philip
• Wiets Michael

Classifications

• G05B2219/40517

  Constraint motion planning, variational dynamic programming · CPC title

• G05B2219/40091

  Tele-programming by graphical simulation · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/1656

  characterised by programming, planning systems for manipulators · CPC title

• A61B6/03

  Computed tomography [CT] · CPC title