Device for assisting with the handling of an instrument or tool

Patent metadata

Field	Value
Publication number	US-9795361-B2
Application number	US-201213410727-A
Country	US
Kind code	B2
Filing date	Mar 2, 2012
Priority date	Mar 2, 2011
Publication date	Oct 24, 2017
Grant date	Oct 24, 2017

Abstract

A device for assisting with the handling of an instrument or tool, the device comprising a jointed mechanical structure on a support, wherein an instrument or tool may be attached, motor drives configured to actuate the jointed mechanical structure, according to a number of degrees of freedom of less than that which the structure provides to the instrument or tool, and an automatic control, wherein the automatic control drives the motor drives in order to facilitate the meeting of a constraint on position and/or velocity parameters of the instrument or tool, which constraint the motor drives by themselves, independently of handling by an operator, cannot entirely meet.

First claim

What is claimed is:

1. A device for assisting with the handling of a tool or instrument, the device comprising:
a jointed mechanical structure on which the tool or instrument is attached;
a plurality of motor drives configured to actuate the jointed mechanical structure according to a number of degrees of freedom less than the total number of degrees of freedom of the jointed mechanical structure; and
a controller configured to drive the plurality of motor drives, individually or in combination, in order to meet a constraint on at least one parameter of the tool or instrument that cannot be met independently of the tool or instrument being physically handled by an operator,
wherein the at least one parameter of the tool or instrument corresponds to a number of degrees of freedom greater than the number of degrees of freedom on which the plurality of motor drives act, and
wherein the controller is configured to transmit a force to the tool or instrument in order to indicate to the operator physically handling the tool or instrument how to move the tool or instrument in order to meet the constraint on the at least one parameter of the tool or instrument.

2. The device of claim 1 , wherein the at least one parameter of the tool or instrument is position.

3. The device of claim 1 , wherein the at least one parameter of the tool or instrument is velocity.

4. The device of claim 1 , wherein the total number of degrees of freedom of the jointed mechanical structure is six and the plurality of motor drives are configured to actuate the jointed mechanical structure according to three degrees of freedom.

5. The device of claim 1 , wherein the tool or instrument is an echographic probe.

6. The device of claim 1 , wherein the force transmitted by the controller depends upon the at least one parameter.

7. The device of claim 1 , wherein the jointed mechanical structure is an arm comprising a joint bearing and the force is transmitted to the tool or instrument at this joint.

8. The device of claim 1 , wherein the force is transmitted by the controller to at least partially guide the operator physically handling the tool or instrument in reaching a lesion with the tool or instrument.

9. The device of claim 8 , wherein the force transmitted by the controller increases as the tool moves away from the lesion.

10. An imaging assembly comprising:
a mammographic imaging device comprising a source of x-rays, a detector, and a compression paddle; and
a device for assisting with the handling of a tool or instrument, the device comprising:
a jointed mechanical structure on which the tool or instrument is attached;
a plurality of motor drives configured to actuate the jointed mechanical structure according to a number of degrees of freedom less than the total number of degrees of freedom of the jointed mechanical structure; and
a controller configured to drive the plurality of motor drives, individually or in combination, in order to meet a constraint on at least one parameter of the tool or instrument that cannot be met independently of the tool or instrument being physically handled by an operator,
wherein the at least one parameter of the tool or instrument corresponds to a number of degrees of freedom greater than the number of degrees of freedom on which the plurality of motor drives act, and
wherein the controller is configured to transmit a force to the tool or instrument in order to indicate to the operator physically handling the tool or instrument how to move the tool or instrument in order to meet the constraint on the at least one parameter of the tool or instrument.

11. The assembly of claim 10 , wherein the at least one parameter of the tool or instrument is position.

12. The assembly of claim 10 , wherein the at least one parameter of the tool or instrument is velocity.

13. The assembly of claim 10 , wherein the tool or instrument is an echographic probe.

14. The assembly of claim 10 , wherein the force transmitted by the controller depends upon the at least one parameter.

15. The assembly of claim 10 , wherein the jointed mechanical structure is an arm comprising a joint bearing and the force is transmitted to the tool or instrument at this joint.

16. The assembly of claim 10 , wherein a vertical component of the force transmitted by the controller along an axis perpendicular to a plane containing the compression paddle is zero.

17. The assembly of claim 10 , wherein the force is transmitted by the controller to at least partially guide the operator physically handling the tool or instrument in reaching a lesion with the tool or instrument.

18. The assembly of claim 17 , wherein the force transmitted by the controller increases as the tool or instrument moves away from the lesion.

19. The assembly of claim 17 , wherein the force transmitted by the controller is zero when an image plane of the tool or instrument contains the lesion and increases as the tool gradually moves away from the lesion.

20. The assembly of claim 17 , wherein the force transmitted by the controller is elastic and is defined by:
{right arrow over (F)}=k{right arrow over (d)},

wherein k is a stiffness constant and wherein {right arrow over (d)} is a distance between the tool or instrument and the lesion.

Assignees

• Marx Anja
• Morel Guillaume
• Vitrani Marie-Aude
• Muller Serge Louis Wilfrid
• Iordache R{hacek over (a)}zvan Gabriel
• Gen Electric

Inventors

• Marx Anja
• Morel Guillaume
• Vitrani Marie-Aude
• Muller Serge Louis Wilfrid
• Iordache R{hacek over (a)}zvan Gabriel

Classifications

• A61B8/4209 Primary

  by using holders, e.g. positioning frames · CPC title

• A61B8/4218

  characterised by articulated arms · CPC title

• G05B13/02

  electric · CPC title

• G05B2219/36432

  By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints · CPC title

• B25J9/1679 Primary

  characterised by the tasks executed · CPC title