Patent ID: 11931300
Assignee: BAXTER MEDICAL SYSTEMS GMBH & CO. KG
Field: nan (nan)
Classification: CPC nan | IPC A

Claim 18:
19. A method of operating a surgical table comprising
a base configured to be supported by a supporting surface, the base provided with a base drive configured to move at least a portion of the base relative to the supporting surface;
a plurality of components supportable by the base, one or more of the plurality of components being provided with a respective component drive configured to move the respective component with respect to another one of the plurality of components or to the base;
wherein the base and at least a subset of the plurality of components when supported by the base form a configuration of the surgical table;
and
a controller configured to store, and adapt, a geometric collision model including: object model datasets defining a respective geometry of each of the plurality of components, of the base, and of the supporting surface; and motion compute datasets defining kinematic relationships and ranges of motion of the base, and of the plurality of components,
wherein the controller is configured to store as the geometric collision model a pre-defined initial geometric collision model of a baseline configuration of the surgical table and to adapt the initial geometric collision model to an actual geometric collision model according to an actual configuration of the surgical table, and store said actual geometric collision model as the geometric collision model,
and
wherein the controller is further configured to execute an anti-collision algorithm, defining respective ranges of motion of the base and each of the subset of the plurality of components supported by the base in dependence on the stored geometric collision model, the anti-collision algorithm being configured to control the base drive to move the at least a portion of the base, and to control the respective component drive to move the respective one of the plurality of components, only within the defined respective ranges of motion such that a collision between any of the subset of the plurality of components, the base, and the supporting surface is prevented,
the method comprising the steps of:
initiating a motion of at least one of the subset of the plurality of components, and/or the at least a portion of the base, to reach an intended position of the at least one of the subset of the plurality of components, and/or the base, by controlling the respective component drive, or base drive by the controller;
manually checking whether the intended position is reached;
if the intended position of the at least one of the subset of the plurality of components, and/or the base, cannot be reached within the ranges of motion defined by the anti-collision algorithm, then manually continuously providing input to the controller, to control the respective component drive, and/or the base drive, such that the intended position of the at least one of the subset of the plurality the components, and/or the base, beyond the ranges of motion defined by the anti-collision algorithm, is reached;
adapting the stored geometric collision model according to modified ranges of motion necessary for reaching the intended position, wherein the stored geometric collision model is adapted by applying the positions of the subset of the plurality of components and the base necessary for reaching the intended position of the at least one of the subset of the plurality of components, and/or the base, as limits of the ranges of motion;
storing the adapted geometric collision model;
subsequently defining the respective ranges of motion by the anti-collision algorithm based on the stored geometric collision model and controlling the base drive and the respective component drive to move within the ranges of motion defined based on the stored geometric collision model; and
resetting the stored geometric collision model to the initial geometric collision model when subsequently waking up the controller from a standby.