Programmable brake control system for use in a medical device
A system and method for providing programmable brake control in a fly-by-wire medical instrument system are provided. In one embodiment, the invention provides a brake control system that includes a brake control algorithm that provides temporal and spatial control of the motion of a medical instrument.
1 . A medical instrument control system comprising:
a user input device;
a motion processor that produces position commands from inputs of the user input device;
one or more motors that selectively tension control cables in a medical instrument in response to the position commands from the motion processor; and
a programmable brake control that filters the position commands produced by the motion processor with reference to the history of the instrument's position and as a function of one or more operating parameters of the instrument.
2 . The instrument control system of claim 1 , wherein the operating parameters include the torque required to move the control cables with the one or more motors.
3 . The instrument control system of claim 1 , wherein the instrument is an endoscope with a deflectable distal tip.
4 . The instrument control system of claim 3 , wherein the operating parameters include the position of the distal tip.
5 . The instrument control system of claim 3 , wherein the operating parameters include the time history of the position of the distal tip.
6 . The instrument control system of claim 3 , wherein the endoscope further comprises an imaging sensor and wherein the position of the distal tip is measured as a function of the position of the distal tip as compared to a tissue wall in a patient.
7 . The instrument control system of claim 3 , wherein the endoscope further comprises a sensor for detecting tissue thickness in a patient and wherein the operating parameters include the thickness of a tissue wall in a patient.
8 . The instrument control system of claim 1 , wherein the operating parameters include a procedural mode of the instrument.
9 . The instrument control system of claim 1 , wherein the operating parameters include information associated with a patient.
10 . The instrument control system of claim 1 , wherein the programmable brake control filters the position commands with an algorithm corresponding to a sticking friction force.
11 . The instrument control system of claim 1 , wherein the programmable brake control filters the position commands with an algorithm corresponding to a viscous friction force.
12 . The instrument control system of claim 1 , wherein the programmable brake control filters the position commands with an algorithm corresponding to an aerodynamic drag force.
13 . A method for providing programmable brake control in a medical instrument imaging system comprising:
obtaining input information associated with a procedural mode of the imaging system;
determining a preprogrammed braking algorithm associated with the procedural mode; and
filtering motion command signals to be provided to actuators within the imaging system for moving the instrument with the preprogrammed braking algorithm to generate modified motion commands prior to the execution of the motion commands in an actuator.