Control of device including mechanical arms
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Assignees
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Publication Number
US-12167898-B2
Publication Date
2024-12-17
Expiration Date
Abstract
A method of initializing the layout of one or more robotic arms controllable by an input object, comprising: entering a paused mode, in which control of movement of the robotic arms by the input object is paused; measuring an input object initialization layout, defined by the layout of at least one segment of the input object; actuating at least a portion of the robotic arms to match the input object initialization layout; and entering a controlled mode, in which movements of the input object control the robotic arms.
Core Innovation
The invention provides a gesture recognition-based control method for a surgical system including at least one surgical arm insertable into the body. The method detects movement of at least one user body portion and controls movement of the surgical arm and/or transfers between modes of operation based on the detected movement. The controlling movement is performed by mapping measured user body portion movement to movement of at least a portion of the surgical arm.
The surgical arm includes a plurality of portions sequentially coupled by joints, and movement of a user's arm joint is mapped to movement of a corresponding surgical arm joint. The system implementation includes circuitry for detecting the user movement and a controller configured to control the surgical arm movement and/or transfer between operation modes. The disclosed architecture supports mapping between user movement and surgical arm joint movement, consistent with gesture recognition.
The disclosure also describes motion detection apparatus with motion detection sensors, including cameras, and processing that supports filtering, mode/state control, and calibration/mapping between user anatomy or an input device and corresponding surgical device segments. These elements support transferring between operation modes such as pause mode and motion control mode, and can include calibration mode and display of a graphical representation of movement.
Claims Coverage
The patent provides two independent claims. Both claims cover gesture recognition, detecting user body portion movement and mapping to corresponding joints or portions of a sequentially coupled surgical arm, and optionally transferring between modes of operation, implemented in a surgical system with circuitry and a controller.
Gesture recognition for mode and/or motion control via mapped user joint movement
A method of controlling, using gesture recognition, an operation mode of a surgical system including at least one surgical arm insertable into the body, by detecting movement of at least one user body portion and controlling movement of the surgical arm and/or transferring between modes of operation, wherein controlling movement is by mapping measured user body portion movement to movement of at least a portion of the surgical arm, and wherein movement of a user's arm joint is mapped to movement of a corresponding surgical arm joint.
Surgical system for mapped user joint movement control of sequentially coupled surgical arm
A surgical system comprising at least one surgical arm sized and shaped for insertion into a human body, the surgical arm comprising a plurality of sequentially coupled portions; circuitry detecting movement of at least one user body portion; and a controller configured, based on the detected movement, for controlling movement of the surgical arm and/or to transfer between modes of operation, wherein controlling movement is by mapping measured user body portion movement to movement of at least a portion of the surgical arm, and wherein movement of a user's arm joint is mapped to movement of a corresponding surgical arm joint.
Across the independent claims, the core coverage is mapping detected user body portion movement, including arm joint movement, to corresponding joints or portions of a multi-jointed surgical arm, with optional transfer between modes of operation in a gesture-recognition control method and in a corresponding surgical system.
Stated Advantages
Documented Applications
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