JP6615871B2 - 適応入力マッピングのためのシステム及び方法 - Google Patents
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Description
この出願は、2014年8月22日に出願された「SYSTEMS AND METHODS FOR ADAPTIVE INPUT MAPPING」という名称の米国仮特許出願第62/040,774号の優先権及び出願日の利益を主張し、その全文を本明細書中に参照として援用する。
appliers)を含んでよい。電気的にアクティブ化されるエンドエフェクタの実施例は、電気外科電極、変換器(トランスデューサ)、センサ、及び同等物を含む。様々な実施態様において、補助的なツール226は、表示のために視覚化システム231によって処理される画像(ビデオ画像を含む)を取り込むためにフレキシブルなカテーテル本体216の遠位端218又はその付近に立体視又は平面視カメラを備える遠位部分を含む、画像キャプチャプローブであってよい。画像キャプチャプローブは、取り込んだ画像データを送信するためにカメラに連結されるケーブルを含んでよい。代替的に、画像キャプチャ器具は、視覚化システムに繋がる、ファイバスコープのような光ファイバの束であってよい。画像キャプチャ器具は、単スペクトル又は多スペクトルであってよく、例えば、可視スペクトル、赤外スペクトル、又は紫外スペクトルのうちの1つ又はそれよりも多くにおいて画像データを取り込む。
Claims (11)
- 医療器具の動作を制御する方法であって、
制御システムのプロセッサが、操作者入力デバイス動作から入力指令を受信すること、
前記プロセッサが、解剖学的基準系に対する前記医療器具の少なくとも一部分の位置に基づいて制御因子を決定すること、
前記プロセッサが、前記制御因子に基づいて運動スケーリングパラメータを決定すること、
前記プロセッサが、前記入力指令を医療器具動作のための出力指令にマッピングすること、及び
アクチュエータが、前記出力指令に従って前記医療器具を動かすことを含み、
前記入力指令を前記出力指令にマッピングすることは、前記運動スケーリングパラメータを前記入力指令に適用して、前記出力指令を創ることを含む、
方法。 - 前記制御因子は、前記操作者入力デバイス動作についての動的なパラメータである、請求項1に記載の方法。
- 前記動的なパラメータは、前記操作者入力デバイス動作の速度成分である、請求項2に記載の方法。
- 前記速度成分が速度閾値を越えるならば、前記運動スケーリングパラメータによって前記入力指令を前記出力指令にスケーリングする比は、1:1よりも大きい、請求項3に記載の方法。
- 前記速度成分が速度閾値よりも下であるならば、前記運動スケーリングパラメータによって前記入力指令を前記出力指令にスケーリングする比は、1:1よりも少ない、請求項3に記載の方法。
- 前記動的なパラメータは、前記操作者入力デバイス動作の加速度成分である、請求項2に記載の方法。
- 前記制御因子は、前記医療器具の命令される運動と前記医療器具の出力運動との間の誤差値を含む、請求項1に記載の方法。
- 前記誤差値が誤差閾値を越えるならば、前記運動スケーリングパラメータによって前記入力指令を前記出力指令にスケーリングする比は、1:1よりも少ない、請求項7に記載の方法。
- 前記誤差値が誤差閾値より下であるならば、前記運動スケーリングパラメータによって前記入力指令を前記出力指令にスケーリングする比は、1:1よりも大きい、請求項7に記載の方法。
- 前記医療器具に対する重力の荷重が前記誤差値から除去される、請求項7に記載の方法。
- 前記誤差値は、前記医療器具上の形状センサから決定される、請求項7に記載の方法。
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US201462040774P | 2014-08-22 | 2014-08-22 | |
US62/040,774 | 2014-08-22 | ||
PCT/US2015/045837 WO2016028858A1 (en) | 2014-08-22 | 2015-08-19 | Systems and methods for adaptive input mapping |
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JP2019201563A Division JP6799658B2 (ja) | 2014-08-22 | 2019-11-06 | 適応入力マッピングのためのシステム及び方法 |
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JP6615871B2 true JP6615871B2 (ja) | 2019-12-04 |
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JP2017510552A Active JP6615871B2 (ja) | 2014-08-22 | 2015-08-19 | 適応入力マッピングのためのシステム及び方法 |
JP2019201563A Active JP6799658B2 (ja) | 2014-08-22 | 2019-11-06 | 適応入力マッピングのためのシステム及び方法 |
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EP (2) | EP4233769A3 (ja) |
JP (2) | JP6615871B2 (ja) |
KR (1) | KR102620057B1 (ja) |
CN (2) | CN111067625A (ja) |
WO (1) | WO2016028858A1 (ja) |
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