System and method for coordinated motion among heterogeneous devices using a movement token
A device comprises one or more movable elements and one or more processors. The device is configured to receive a first movement assignment of a first type, receive tracking data from a motion tracking system configured to monitor a position of personnel in a vicinity of the device, plan a first motion for a first movable element of the one or more movable elements based on the first type of the first movement assignment and the tracking data, and execute the first motion.
1. A device comprising:
one or more movable elements; and
one or more processors;
wherein the device is configured to:
receive a first movement assignment of a first type;
receive tracking data from a motion tracking system configured to monitor a position of personnel in a vicinity of the device;
plan a first motion for a first movable element of the one or more movable elements based on the first type of the first movement assignment and the tracking data; and
execute the first motion.
2. The device of claim 1 , wherein the device is further configured to:
monitor a shared interface for an alert generated based at least in part on the tracking data.
3. The device of claim 2 , wherein the alert is an imminent collision alert.
4. The device of claim 1 , wherein the device is a computer-assisted surgical device, a surgical table, an imaging device, or a focal interventional device.
5. The device of claim 4 , wherein the motion tracking system is configured to monitor the position of the personnel by monitoring an instrument used by the personnel during a medical procedure.
6. The device of claim 5 , wherein the instrument is marked with registration points for tracking by the motion tracking system.
7. The device of claim 1 , wherein the motion tracking system monitors the position of the personnel using vision tracking.
8. The device of claim 7 , wherein the personnel is marked with registration points for tracking by the motion tracking system.
9. The device of claim 1 , wherein the motion tracking system monitors the position of the personnel using electromagnetic tracking.
10. The device of claim 1 , wherein the motion tracking system monitors the position of the personnel using a radio-frequency identification tag.
11. The device of claim 1 , wherein the first movement assignment is based on receipt of a first movement token, and wherein first type of the first movement token is an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, or a passive collision-avoidance token.
12. The device of claim 11 , wherein:
the first type of the first movement token is the master follow-me token; and
the device is further configured to share the first motion using a blackboard service.
13. The device of claim 11 , wherein:
the first type of the first movement token is the slave collision-avoidance token; and
the device is configured to plan the first motion for the first movable element to avoid a collision with the personnel.
14. The device of claim 11 , wherein:
the first type of the first movement token is the passive collision-avoidance token; and
the device is further configured to periodically share data associated with its current configuration, kinematics, statics, or dynamics.
15. The device of claim 11 , wherein the motion tracking system is configured to create a virtual movable device associated with the personnel.
16. The device of claim 15 , wherein the virtual movable device is assigned a second movement assignment of a passive collision-avoidance type.
17. The device of claim 15 , wherein dimensions associated with the personnel are retrieved by the motion tracking system.
18. A system comprising:
a device including one or more movable elements and one or more processors;
a shared interface configured to provide an indication that a movement assignment has been assigned to the device; and
a motion tracking system in operative communication with the shared interface and configured to collect tracking data associated with a position of personnel in a vicinity of the device,
wherein the device is configured to:
plan a first motion for a first movable element of the one or more movable elements based on a type of the movement assignment and the tracking data; and
execute the first motion.
19. The system of claim 18 , wherein the system configured to generate an imminent collision alert based at least in part on the tracking data.
20. The system of claim 18 , wherein the motion tracking system monitors the position of the personnel using at least one of:
vision tracking of registration points marked on the personnel or an instrument used by the personnel;
electromagnetic tracking;
a radio-frequency identification tag; or
ultrasound.