Systems and methods for self-alignment and adjustment of robotic endoscope
Inventors
Hung, Carol Kayee • Slawinski, Piotr Robert • Thompson, Hendrik • Keshtgar, Maziyar
Assignees
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Publication Number
US-11950868-B2
Publication Date
2024-04-09
Expiration Date
Abstract
A method is provided for a robotic endoscope system. The method comprises: generating a 3D depth map of an environment surrounding the robotic endoscope system; autonomously actuating a self-propelled base of a robotic support system to a desired location relative to a patient bed based on the 3D depth map, wherein the robotic support system comprises a robotic arm coupled to the self-propelled base at a proximal end and coupled to a flexible endoscope apparatus via an instrument driving mechanism (IDM) at a distal end; and actuating the robotic arm to align the IDM to a component coupled to or part of the patient bed.
Core Innovation
The invention relates to controlling a robotic endoscope system by generating a 3D depth map of an environment surrounding the robotic endoscope system. Based on the 3D depth map, a self-propelled base of a robotic support system is autonomously actuated to a desired location relative to a patient bed. The robotic support system comprises a robotic arm coupled to the self-propelled base at a proximal end and an instrument driving mechanism (IDM) at a distal end.
After the robotic support system is positioned relative to the patient bed, the robotic arm is actuated to autonomously align the IDM to a component coupled to or as a part of the patient bed. The document further supports alignment using sensor data to enable autonomous alignment, including electromagnetic tracking with an EM field generator and EM sensors, and camera-based fiducial marker approaches.
The invention additionally integrates autonomous runtime safety and robustness behaviors with alignment and motion. Collision avoidance is described using proximity and obstacle mapping with redundancy-resolved robotic arm reconfiguration. Further, buckling and prolapse mitigation for a flexible catheter/endoscope is described through responsive tip-velocity control and event-driven adjustments, including automatic adjustment of the position of the IDM upon detection of a buckling event.
Claims Coverage
The partial content includes two independent claims: a method claim and a system claim. Across these independent claims, the inventive concept consists of three core inventive features: generating a 3D depth map, autonomously actuating a self-propelled base to a desired location relative to a patient bed, and actuating a robotic arm to autonomously align an IDM to a component coupled to or as part of the patient bed.
3D depth map generation for environment surrounding the robotic endoscope system
Generating a 3D depth map of an environment surrounding the robotic endoscope system.
Autonomous self-propelled base actuation relative to a patient bed
Autonomously actuating a self-propelled base of a robotic support system to a desired location relative to a patient bed based on the 3D depth map, wherein the robotic support system comprises a robotic arm coupled to the self-propelled base at a proximal end and an instrument driving mechanism (IDM) at a distal end.
Autonomous IDM alignment to a patient-bed component
Actuating the robotic arm to autonomously align the IDM to a component coupled to or as a part of the patient bed.
Both independent claims cover the same control concept: generate a 3D depth map, use it to autonomously place a self-propelled robotic support base relative to a patient bed, and autonomously actuate a robotic arm to align an instrument driving mechanism to a patient-bed component.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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