Medical device systems, methods and computer-readable mediums for operating the same

Patent metadata

Field	Value
Publication number	US-12440294-B2
Application number	US-202117452138-A
Country	US
Kind code	B2
Filing date	Oct 25, 2021
Priority date	Oct 25, 2021
Publication date	Oct 14, 2025
Grant date	Oct 14, 2025

Abstract

A robotic medical device system includes a robotic medical device and a controller. The controller is configured to control, in response to one or more control signals, movement of the robotic medical device to maintain a substantially constant overshoot for different step responses of the robotic medical device system independent of variations in a delay associated with control of the robotic medical device, the one or more control signals received via a network.

First claim

We claim:

1. A robotic medical device system comprising:
a controller configured to, in response to one or more control signals, perform non-linear scaling of a velocity of a robotic medical device to maintain a constant overshoot for different step responses of the robotic medical device system independent of variations in a delay associated with control of the robotic medical device, wherein
the one or more control signals are received via a network, and
the different step responses include different step response settling times for the robotic medical device system.

2. The robotic medical device system of claim 1 , wherein the delay includes at least one of a command delay or an image feedback delay.

3. The robotic medical device system of claim 1 , wherein the controller is configured to perform the non-linear scaling of the velocity of the robotic medical device to maintain a constant maximum overtravel distance of the robotic medical device.

4. The robotic medical device system of claim 1 , wherein the delay is at least partially based on a transmission delay for the network.

5. The robotic medical device system of claim 1 , wherein
the velocity of the robotic medical device includes at least one of linear or rotational velocity.

6. A method of operating a robotic medical device system including a robotic medical device and a controller, the method comprising:
performing, in response to one or more control signals, non-linear scaling of a velocity of the robotic medical device to maintain a constant overshoot for different step responses of the robotic medical device system independent of variations in a delay associated with control of the robotic medical device, wherein
the one or more control signals are received via a network, and
the different step responses include different step response settling times for the robotic medical device system.

7. The method of claim 6 , wherein the delay includes at least one of a command delay or an image feedback delay.

8. The method of claim 6 , wherein the performing of the non-linear scaling of the velocity of the robotic medical device maintains a constant maximum overtravel distance of the robotic medical device.

9. The method of claim 6 , wherein the delay is at least partially based on a transmission delay for the network.

10. The method of claim 6 , wherein the velocity of the robotic medical device includes at least one of linear or rotational velocity.

11. A robotic medical device system comprising:
a controller configured to, in response to one or more control signals, perform non-linear scaling of a velocity of a robotic medical device to maintain a constant maximum overtravel distance of the robotic medical device independent of variations in a delay associated with control of the robotic medical device, wherein
the delay is between a maximum acceptable delay threshold and a disable threshold,
the maximum acceptable delay threshold is greater than zero,
the one or more control signals are received via a network,
the non-linear scaling of the velocity is at least partially based on the constant maximum overtravel distance of the robotic medical device, and
the controller is configured to constrain the velocity of the robotic medical device to maintain the constant maximum overtravel stance in response to the delay being between the maximum acceptable delay threshold and the disable threshold.

12. The robotic medical device system of claim 11 , wherein the controller is configured to disable operation of the robotic medical device in response to the delay being greater than the disable threshold.

13. The robotic medical device system of claim 11 , wherein the velocity of the robotic medical device is unconstrained in response to the delay being less than the maximum acceptable delay threshold.

14. The robotic medical device system of claim 11 , wherein the constant maximum overtravel distance is a maximum distance traveled by the robotic medical device after receipt of a command to stop movement of the robotic medical device.

15. The robotic medical device system of claim 11 , wherein the maximum acceptable delay threshold is less than the disable threshold.

16. The robotic medical device system of claim 11 , wherein the disable threshold is a maximum length of time during which a command, from a user, to move the robotic medical device is available to enabled.

17. The robotic medical device system of claim 1 , wherein the robotic medical device is an elongated medical device.

18. The robotic medical device system of claim 17 , wherein elongated medical device is a catheter, guidewire, balloon catheter, or microcatheter.

19. The robotic medical device system of claim 11 , wherein the robotic medical device is an elongated medical device.

20. The robotic medical device system of claim 19 , wherein elongated medical device is a catheter, guidewire, balloon catheter, or microcatheter.

Assignees

• Corindus Inc
• Siemens Healthineers Endovascular Robotics Inc

Inventors

• Kottenstette Nicholas
• Bergman Per
• Li Yao

Classifications

• G16H40/67

  for remote operation · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B34/77

  Manipulators with motion or force scaling · CPC title

• G05B2219/40151

  Time delay, problems caused by time delay between local and remote · CPC title

• B25J9/1689

  Teleoperation · CPC title