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WO2025076034A1 - Restauration de l'état de systèmes après un redémarrage de système - Google Patents

Restauration de l'état de systèmes après un redémarrage de système Download PDF

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Publication number
WO2025076034A1
WO2025076034A1 PCT/US2024/049523 US2024049523W WO2025076034A1 WO 2025076034 A1 WO2025076034 A1 WO 2025076034A1 US 2024049523 W US2024049523 W US 2024049523W WO 2025076034 A1 WO2025076034 A1 WO 2025076034A1
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WO
WIPO (PCT)
Prior art keywords
medical instrument
medical
session
parameters
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2024/049523
Other languages
English (en)
Inventor
Guru SUBRAMANI
Samuel B. SCHORR
Timothy D. SOPER
Shu-wen YU
Michael Marshall
Patrick ROYE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of WO2025076034A1 publication Critical patent/WO2025076034A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00477—Coupling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A61B2090/3614—Image-producing devices, e.g. surgical cameras using optical fibre

Definitions

  • FIG. 2A is a simplified diagram of a medical instrument system according to some embodiments.
  • the medical system 100 may include a display system 110 for displaying an image or representation of the procedural site and the medical instrument 104.
  • Display system 110 and master assembly 106 may be oriented so physician O can control medical instrument 104 and master assembly 106 with the perception of telepresence.
  • control system 112 may include two or more separate data processing circuits with one portion of the processing being performed at the manipulator assembly 102, another portion of the processing being performed at the master assembly 106, and/or the like.
  • control system 112 may include other types of processing circuitry, such as application-specific integrated circuits (ASICs) and/or field-programmable gate array (FPGAs).
  • ASICs application-specific integrated circuits
  • FPGAs field-programmable gate array
  • the control system 112 may be implemented using hardware, firmware, software, or a combination thereof.
  • control system 112 may receive feedback from the medical instrument 104, such as force and/or torque feedback. Responsive to the feedback, the control system 112 may transmit signals to the master assembly 106. In some examples, the control system 112 may transmit signals instructing one or more actuators of the manipulator assembly 102 to move the medical instrument 104. In some examples, the control system 112 may transmit informational displays regarding the feedback to the display system 110 for presentation or perform other types of actions based on the feedback.
  • the location can be used to produce both macro-level (e.g., external) tracking images of the anatomy of patient P and virtual internal images of the anatomy of patient P.
  • the system may include one or more electromagnetic (EM) sensors, fiber optic sensors, and/or other sensors to register and display a medical instrument together with pre- operatively recorded medical images.
  • EM electromagnetic
  • U.S. Patent No. 8,900,131 filed May 13, 2011 and titled “Medical System Providing Dynamic Registration of a Model of an Anatomic Structure for Image-Guided Surgery”
  • U.S. Patent No. 8,900,131 discloses example systems.
  • FIG. 2A is a simplified diagram of a medical instrument system 200 according to some embodiments.
  • the medical instrument system 200 includes a flexible elongate device 202 (also referred to as elongate device 202), a drive unit 204, and a medical tool 226 that collectively is an example of a medical instrument 104 of a medical system 100.
  • the medical system 100 may be a teleoperated system, a non-teleoperated system, or a hybrid teleoperated and non-teleoperated system, as explained with reference to FIG. 1.
  • a visualization system 231, tracking system 230, and navigation system 232 are also shown in FIG. 2A and are example components of the control system 112 of the medical system 100.
  • Tracking system 230 may track the distal end 218 and/or one or more of the segments 224 of the flexible body 216 using a shape sensor 222.
  • the shape sensor 222 may include an optical fiber aligned with the flexible body 216 (e.g., provided within an interior channel of the flexibly body 216 or mounted externally along the flexible body 216).
  • the optical fiber may have a diameter of approximately 200 pm. In other examples, the diameter may be larger or smaller.
  • the optical fiber of the shape sensor 222 may form a fiber optic bend sensor for determining the shape of flexible body 216.
  • Optical fibers including Fiber Bragg Gratings (FBGs) may be used to provide strain measurements in structures in one or more dimensions.
  • FBGs Fiber Bragg Gratings
  • the position sensor system 220 may be configured and positioned to measure six degrees of freedom, e.g., three position coordinates X, Y, Z and three orientation angles indicating pitch, yaw, and roll of a base point. In some examples, the position sensor system 220 may be configured and positioned to measure five degrees of freedom, e.g., three position coordinates X, Y, Z and two orientation angles indicating pitch and yaw of a base point. Further description of a position sensor system, which may be applicable in some embodiments, is provided in U.S. Patent No. 6,380,732 (filed August 11, 1999 and titled “Six-Degree of Freedom Tracking System Having a Passive Transponder on the Object Being Tracked”), which is incorporated by reference herein in its entirety.
  • FIG. 2B is a simplified diagram of the medical tool 226 within the elongate device 202 according to some embodiments.
  • the flexible body 216 of the elongate device 202 may include the channel 221 sized and shaped to receive the medical tool 226.
  • the medical tool 226 may be used for procedures such as diagnostics, imaging, surgery, biopsy, ablation, illumination, irrigation, suction, electroporation, etc.
  • Medical tool 226 can be deployed through channel 221 of flexible body 216 and operated at a procedural site within the anatomy.
  • the image capture probe is inserted within the flexible body 216 of the elongate device 202 to facilitate visual navigation of the elongate device 202 to a procedural site and then is replaced within the flexible body 216 with another type of medical tool 226 that performs the procedure.
  • the image capture probe may be within the flexible body 216 of the elongate device 202 along with another type of medical tool 226 to facilitate simultaneous image capture and tissue intervention, such as within the same channel 221 or in separate channels.
  • a medical tool 226 may be advanced from the opening of the channel 221 to perform the procedure (or some other functionality) and then retracted back into the channel 221 when the procedure is complete.
  • the medical tool 226 may be removed from the proximal end 217 of the flexible body 216 or from another optional instrument port (not shown) along flexible body 216.
  • the elongate device 202 may include integrated imaging capability rather than utilize a removable image capture probe.
  • the imaging device (or fiber-optic bundle) and the light emitters may be located at the distal end 218 of the elongate device 202.
  • the flexible body 215 may include one or more dedicated channels that carry the cable(s) and/or optical fiber(s) between the distal end 218 and the visualization system 231.
  • the medical instrument system 200 can perform simultaneous imaging and tool operations.
  • FIGS. 3 A and 3B are simplified diagrams of side views of a patient coordinate space including a medical instrument mounted on an insertion assembly according to some embodiments.
  • a surgical environment 300 may include a patient P positioned on the patient table T.
  • Patient P may be stationary within the surgical environment 300 in the sense that gross patient movement is limited by sedation, restraint, and/or other means. Cyclic anatomic motion, including respiration and cardiac motion, of patient P may continue.
  • a medical instrument 304 is used to perform a medical procedure which may include, for example, surgery, biopsy, ablation, illumination, irrigation, suction, or electroporation.
  • Elongate device 310 may also include one or more sensors (e.g., components of the sensor system 108).
  • a shape sensor 314 may be fixed at a proximal point 316 on the instrument body 312.
  • the proximal point 316 of the shape sensor 314 may be movable with the instrument body 312, and the location of the proximal point 316 with respect to a desired reference frame may be known (e.g., via a tracking sensor or other tracking device).
  • the shape sensor 314 may measure a shape from the proximal point 316 to another point, such as a distal end 318 of the elongate device 310.
  • the shape sensor 314 may be aligned with the elongate device 310 (e.g., provided within an interior channel or mounted externally).
  • the shape sensor 314 may optical fibers used to generate shape information for the elongate device 310.
  • a sensor device 320 which may be a component of the sensor system 108, may provide information about the position of the instrument body 312 as it moves relative to the insertion stage 308 along the insertion axis A.
  • the sensor device 320 may include one or more resolvers, encoders, potentiometers, and/or other sensors that measure the rotation and/or orientation of the actuators controlling the motion of the instrument carriage 306, thus indicating the motion of the instrument body 312.
  • the insertion stage 308 has a linear track as shown in FIGS. 3 A and 3B.
  • the insertion stage 308 may have curved track or have a combination of curved and linear track sections.
  • the instrument body 312 and the instrument carriage 306 have advanced along the linear track of insertion stage 308, and the distal end 318 of the elongate device 310 has advanced into patient P.
  • the proximal point 316 is at a position LI on the insertion axis A.
  • FIGs. 4, 5, and 6 show flowcharts of methods for restoring the state of a system after a system restart, in accordance with embodiments of the disclosure.
  • the methods may be implemented using instructions stored on a non-transitory medium that may be executed by a computing system, e.g., the computing system 120.
  • a first session of a medical system is executed, in accordance with some embodiments.
  • the first session is pre-restart and may include one or more medical instrument operations of a procedure.
  • the procedure may include medical instrument operations that are executed in preparation of performing a medical operation such as, for example, a biopsy.
  • the procedure may also include the medical operation.
  • Some other examples of medical operations may include ablation, electroporation, surgical operations, etc.
  • a description of the first session including the medical instrument operations that may be performed during the first session is provided below in reference to FIG. 5.
  • an event 498 occurs during or after the operations of block 410. Based on the occurrence of the event 498, the procedure is not completed in the first session (e.g., the medical operation is not performed directly after block 410).
  • the event 498 may be any event that makes a restart of the medical system either necessary or advisable.
  • the event 498 may be, for example, a failed execution of a medical instrument operation of block 410, any type of non-recoverable error, a recoverable error, a decision to restart the medical system by the operator of the medical system, or any other reason.
  • a mid-procedure restart of the medical system is executed, in accordance with embodiments of the disclosure.
  • the mid-procedure restart may involve a power-cycling of the medical system, of parts of the medical system, or alternatively the clearing of parameters, resetting a state, restarting an operating system or similar application, etc.
  • the mid-procedure restart may be initiated by the user of the medical system, e.g., by pressing a physical button, a virtual button of a touch screen interface, or using any other input.
  • the mid-procedure restart may be executed automatically.
  • the mid-procedure restart involves obtaining, from the user, an input that determines whether the previous procedure, executed during the first session, is to be continued or, alternatively, whether a different procedure is to be performed, after the mid-procedure restart.
  • the patient plan and/or other parameterizations used for the previous procedure or a different patient plan and/or other parameterizations are to be loaded for the procedure to be performed after the mid-procedure restart.
  • the user may provide the user input via a user interface.
  • a second session of the medical system is executed, in accordance with embodiments of the disclosure.
  • the second session is post-restart and may skip one or more medical instrument operations of the procedure that were completed in the first session.
  • Execution of the medical instrument operations in block 410 may be time-consuming and/or tedious.
  • the operations of block 430 may be completed considerably faster than the operations of block 410. Accordingly, the medical system may be ready for performing the medical operation within limited time after the mid-procedure restart of block 420.
  • a procedure may include one or more sessions.
  • the medical instrument operations that were completed in any prior session may be skipped in the current session to facilitate more efficient performance of the procedure.
  • multiple mid-procedure restarts may be performed in necessary or beneficial, based on the described operations, without departing from the disclosure.
  • the medical system is powered on.
  • the power on may be initiated by a user of the medical system.
  • the power on may initialize the medical system in preparation for execution of the subsequently described medical instrument operations.
  • the power on may involve, for example, a boot operation of a computing system associated with the medical system.
  • an engagement operation is performed.
  • the medical instrument is engaged with the manipulator assembly to enable the manipulator assembly to control movements of the medical instrument, as previously discussed in reference to FIGs. 1, 2A, 2B, 3A, and 3B.
  • mechanical energy e.g., in the form of forces or torques
  • the coupling interface may include input disks of the medical instrument and corresponding actuator disks of the manipulator assembly.
  • Other mechanical techniques for engaging the medical instrument and manipulator assembly to allow the motion of the manipulator assembly to cause motion of the medical instrument may also be used.
  • an engagement of the actuator disks with the input disks may be performed. Once engaged, the actuator disks and input disks can transmit mechanical energy from the drive unit to the medical instrument.
  • a mechanism that detects engagement through capacitive coupling may be present. With successful engagement, a capacitor may be charged. When the medical instrument is removed or disengaged, the capacitor may be discharged. Alternatively, a magnetic latching mechanism may be used for the detection of engagement/disengagement. An example of an engagement of an actuator disk and an input disk and an operation performed to achieve engagement is provided below in reference to FIG. 7A.
  • the medical device includes an elongate device, and the engagement involves engaging of the elongate device (e.g., a catheter) to enable controllable articulation of the elongate device by the drive unit as previously described.
  • a model that may consider kinematics and/or dynamics of the medical system can be used to predict the movement of the medical instrument based on the measurements from the encoders.
  • a comparison of the predicted and the measured movement of the medical instrument may then be performed. If the expected and measured motion of the medical instrument corresponds (e.g., the discrepancy of the comparison is below a specified threshold), the motion test operation is deemed successful.
  • the movement of the medical instrument may include an articulation change of the flexible elongate device.
  • the flexible elongate device is driven to perform small movements in two perpendicular axes during the motion test operation.
  • one or more medical instrument operations completed in the first session may be skipped in the second session (post-reboot).
  • one or more first parameters of the medical system associated with the first session may be compared with one or more second parameters of the medical system associated with the second session.
  • comparing the one or more first parameters with the one or more second parameters includes determining that the one or more first parameters are equivalent to the one or more second parameters. Accordingly, medical instrument operations for which equivalence is successfully established do not need to be repeated in the second session. Further, medical instrument operations that have not been completed in the first session may be performed in the second session in order to complete the preparation of the medical system to perform the medical operation.
  • an engagement test is performed to confirm that the medical instrument is engaged with the manipulator assembly and/or has remained engaged between first and second sessions.
  • comparing the one or more first parameters with the one or more second parameters may include determining that a correlation between motion of the input disks and the actuator disks caused by the engagement operation in the first session remains in the second session. This correlation can occur when the input disks and the actuator disks engaged in the first session remain engaged in the second session, including during the mid-procedure restart.
  • the engagement test includes ensuring that the actuator disks of the manipulator assembly are capable of imparting motion to the input disks of the medical instrument without performing a full engagement operation.
  • each input disk of the medical instrument independently engages each actuator disk of the manipulator assembly.
  • the input disks may rotate freely and independently. This can result in the apertures/holes in the input disks being misaligned with the protrusions in the actuator disks when the instrument is reattached with the manipulator assembly, which would require the engagement operation to ensure engagement of all input disks with corresponding actuator disks.
  • the second sensor health data received from the sensor in the second session includes, for example, SNR levels, a connection reflection strength, redundant core comparisons, etc.
  • a second fingerprint may be generated from the second sensor health data received from the sensor in the second session, and the comparison of the second sensor health data received from the sensor in the second session with the first sensor health data received from the sensor in the first session may involve comparing the first fingerprint representing the first sensor health data received from the sensor in the first session with the second fingerprint representing the second sensor health data received from the sensor in the second session.
  • the same techniques may be used to generate fingerprints in different sessions to provide a consistent basis of comparisons.
  • a motion test operation (e.g., as described in block 526 of FIG. 5 may be skipped during the second session based on the successful completion of the sensor health operation and the successful confirmation of the controller configuration.
  • a confirmation of the registration may be performed.
  • the confirmation of the registration may be achieved using a registration test.
  • the user may inspect the current registration and may confirm the registration if the registration appears to be correct.
  • the user may rely on visual input from the medical instrument to confirm the registration.
  • the visual input may be provided by, for example, a camera of the medical instrument or a vision probe that is temporarily inserted into the medical instrument.
  • a camera view generated by an image sensor may be compared with a virtual camera view that is generated based on the registration, anatomical model, and sensor data.
  • the virtual camera view includes a virtual image of the anatomical model from the perspective of the medical instrument at the registered position. If the camera view and virtual camera view correspond, such as for multiple frames captured while the medical instrument is driven within the anatomy, the registration may be confirmed.
  • the confirmation of the registration may be provided by the user (e.g., using a graphical user interface that presents both the camera view and virtual camera view) or programmatically using image processing techniques to compare the camera and virtual camera views.
  • a new registration operation may be performed in the second session, (e.g., as described in block 528 of FIG. 5).
  • the registration may also be performed if no registration is available from the first session.
  • a navigation operation may be performed (e.g., as described in block 530 of FIG. 5).
  • the position of the medical instrument relative to the anatomy at the time of the restart may be used as the basis for resuming the navigation operation in the second session.
  • the navigation operation may not be necessary if it has been completed during the first session.
  • the medical instrument is verified as operating correctly, the pose of the medical instrument relative to the anatomy is exactly known, the medical instrument has been navigated to the target location, and the medical operation may be performed as indicated by block 630.
  • FIG. 6 describes multiple processes that may be performed, it is possible that some of these processes can be skipped, for example based on the type of an error that caused the mid-procedure restart.
  • one or more confirmation processes may also be skipped based on the type of error that caused the mid-procedure restart.
  • the error is caused by an issue with the medical instrument, it may be necessary to perform the confirmation processes as described in FIG. 6.
  • the error is caused by another issue such as a memory error that is not related to the medical instrument, at least some of the confirmation processes of FIG. 6 may be skipped.
  • the recovery of that item is selectively skipped and instead initialized using the nominal procedure.
  • Other items that are unrelated to the error may be recovered. For example, if the system has detected a broken catheter pull wire, it may emit a non-recoverable fault. Upon reboot of the system, the catheter would not be recovered (because of the broken pull wire), but all other aspects such as the catheter guide installation, vision probe installation, registration, biopsy markers etc. may be recovered.
  • FIG. 7A is an illustration of an engagement operation according to some embodiments.
  • the left panel of FIG. 7A shows a state prior to the engagement operation (not engaged), whereas the right panel of FIG. 7A shows a state after the engagement operation (engaged).
  • the state prior to the engagement operation there is an orientational offset between the actuator disk 702 of the manipulator assembly and the input disk 706 of the medical instrument. Accordingly, the protrusion 704 of the actuator disk 702 is prevented from entering the aperture/hole 708 of the input disk.
  • an actuator associated with the actuator disk 702 rotates the actuator disk.
  • the protrusion 704 enters the aperture 708. In this state, engagement has occurred, and mechanical energy can be transmitted between the actuator disk 702 and the input disk 706. While the example shows an engagement between apertures and protrusions, other mechanical elements that are capable of engaging may be used, without departing from the disclosure.
  • FIG. 7B is an illustration of motions and torques associated with an engagement test according to some embodiments.
  • the left panels of FIG. 7B shows motions and torques associated with an engagement test when the actuator disk 702 and the input disk 706 are not engaged, whereas the right panel of FIG. 7B shows motions and torques associated with an engagement test when the actuator disk 702 and the input disk 706 are engaged.
  • Axes of the corresponding plots in the left and right panels are scaled identically.
  • the actuator driving the actuator disk 702 may cover a significant angular range without any noticeable increase in torque, because the actuator disk 702 is rotated freely relative to the input disk 706.
  • engagement of the actuator disk 702 and the input disk 706 may be detected based on the near-immediate presence of a torque in response to even a small movement of the actuator disk 702.
  • a non-engagement of the actuator disk 702 and the input disk 706 may be detected based on an absence of a significant torque in response to even a larger movement of the actuator disk 702.
  • Embodiments of the disclosure have various benefits. Some embodiments leverage tests performed pre-restart to provide automated behind-the-scene tests that are transparent to the user after the restart of the medical system. A reinstallation of the medical instrument may not be necessary, the medical instrument may not need to be removed from the anatomy, and the repetition of tests of the medical instrument may be unnecessary. Some embodiments enable the user to proceed with the previously performed registration after confirmation by the user, instead of requiring repetition of the registration. Some embodiments enable the user to proceed from near the target after the restart, instead of requiring the user to repeat the navigation to the target.
  • control system 112 may be implemented in software for execution on one or more processors of a computer system.
  • the software may include code that when executed by the one or more processors, configures the one or more processors to perform various functionalities as discussed herein.
  • the code may be stored in a non-transitory computer readable storage medium (e.g., a memory, magnetic storage, optical storage, solid-state storage, etc.).
  • the computer readable storage medium may be part of a computer readable storage device, such as an electronic circuit, a semiconductor device, a semiconductor memory device, a read only memory (ROM), a flash memory, an erasable programmable read only memory (EPROM); a floppy diskette, a CD-ROM, an optical disk, a hard disk, or other storage device.
  • the code may be downloaded via computer networks such as the Internet, Intranet, etc. for storage on the computer readable storage medium.
  • the code may be executed by any of a wide variety of centralized or distributed data processing architectures.
  • the programmed instructions of the code may be implemented as a number of separate programs or subroutines, or they may be integrated into a number of other aspects of the systems described herein.
  • wireless connections may use wireless communication protocols such as Bluetooth, near-field communication (NFC), Infrared Data Association (IrDA), home radio frequency (HomeRF), IEEE 802.11, Digital Enhanced Cordless Telecommunications (DECT), and wireless medical telemetry service (WMTS).
  • wireless communication protocols such as Bluetooth, near-field communication (NFC), Infrared Data Association (IrDA), home radio frequency (HomeRF), IEEE 802.11, Digital Enhanced Cordless Telecommunications (DECT), and wireless medical telemetry service (WMTS).

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

Un système médical comprend un ensemble manipulateur destiné à commander les mouvements d'un instrument médical et un système de commande pour l'ensemble manipulateur. Le système de commande exécute une première session du système médical pour une procédure. L'exécution de la première session consiste à réaliser une ou plusieurs opérations d'instrument médical pour l'instrument médical. Le système de commande, après la réalisation de la ou des opérations d'instrument médical, exécute un redémarrage du système médical en milieu de procédure, et après le redémarrage du système médical en milieu de procédure, exécute une seconde session du système médical pour la procédure. L'exécution de la seconde session consiste à sauter la ou les opérations d'instrument médical effectuées dans la première session sur la base de la comparaison d'un ou de plusieurs premiers paramètres du système médical associés à la première session avec un ou plusieurs seconds paramètres du système médical associés à la seconde session.
PCT/US2024/049523 2023-10-02 2024-10-02 Restauration de l'état de systèmes après un redémarrage de système Pending WO2025076034A1 (fr)

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US202363542012P 2023-10-02 2023-10-02
US63/542,012 2023-10-02

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