Medical systems and methods for making and using medical systems are disclosed. Example medical systems may include an atherectomy system configured to engage and remove plaque from walls in vessels of a vascular system. The atherectomy system may include a drive shaft, a rotational member coupled to an end of the drive shaft, a motor coupled to the drive shaft to rotate the rotational tip, and a control unit configured to control a motor state of the motor. The motor may be an electric motor. The control unit may adjust the motor state to decelerate the motor in response to detecting a jam or a stall condition. The jam or stall condition may be detected when a speed of the motor or other motor state reaches or goes beyond a threshold value as prescribed by a reference schedule.

A method of monitoring movement of a robotic arm, the robotic arm being arranged to be moved by an actuator, the method comprising: determining an expected robotic arm condition based on a known robotic condition and a torque applied to the robotic arm by the actuator; measuring an actual robotic arm condition during movement of the arm caused by the applied torque; and determining whether a collision has occurred by comparing the actual robotic arm condition with the expected robotic arm condition and generating a collision signal if a difference between the actual robotic arm condition and the expected robotic arm condition exceeds a threshold.

A multi-axis machine includes a horizontally-displaceable carriage, a vertically-displaceable column, a spindle supported distally of the column, a motor configured to change a position of at least one of the carriage, the column, or the spindle; and an impact detection mechanism. The impact detection mechanism includes a first plate, a second plate secured distally of the first plate, and a sensor configured to detect a motion of the second plate with respect to the first plate.

The present invention is directed to a method for mitigation of the damages in case of accidental collisions in a machine tool comprising a computer numerical control (CNC) and a plurality of axes, wherein the occurrence of collisions is monitored, comprises: identifying a first axis being an axis at which a collision is first detected, identifying a second axis being an axis parallel to said first axis, and determining if both or one or none of the axes are resting. If both are resting unlocking the first axis or both axes. If the first axis or second axis is not resting, then the moving axis is defined as the collider, and said moving axis is braked, and simultaneously the resting axis is unlocked or stepped away or held in position. If both axes are moving, defining a collider axis based on said identified first axis at which a collision has been first detected, braking said collider axis and simultaneously unlocking or stepping away the axis parallel to said collider axis.

The present invention is directed to a method for mitigation of the damages in case of accidental collisions in a machine tool comprising a computer numerical control (CNC) and a plurality of axes, wherein the occurrence of collisions is monitored, comprises: identifying a first axis being an axis at which a collision is first detected, identifying a second axis being an axis parallel to said first axis, and determining if both or one or none of the axes are resting. If both are resting unlocking the first axis or both axes. If the first axis or second axis is not resting, then the moving axis is defined as the collider, and said moving axis is braked, and simultaneously the resting axis is unlocked or stepped away or held in position. If both axes are moving, defining a collider axis based on said identified first axis at which a collision has been first detected, braking said collider axis and simultaneously unlocking or stepping away the axis parallel to said collider axis.

A computer-implemented method of determining a collision between an object and a robot, comprises monitoring one or more articular parts of the robot by measuring the parameters associated with the real displacements of the one or more articular parts; comparing the measured parameters with the expected parameters associated with the corresponding commanded displacements; and determining the probability of a collision with an object. Described developments comprise the exclusion of system failures, the identification of the collided object by computer vision or by communicating with the object, the execution of one or more actions such as a safety mode, the identification of systematic discrepancies in performed comparisons, the grouping of articular parts belonging to a same articular chain, and the mutual surveillance of robots. The use of capacitive sensors, bumper sensors and magnetic rotary encoders is disclosed.

Medical systems and methods for making and using medical systems are disclosed. Example medical systems may include an atherectomy system configured to engage and remove plaque from walls in vessels of a vascular system. The atherectomy system may include a drive shaft, a rotational member coupled to an end of the drive shaft, a motor coupled to the drive shaft to rotate the rotational tip, and a control unit configured to control a motor state of the motor. The motor may be an electric motor. The control unit may adjust the motor state to decelerate the motor in response to detecting a jam or a stall condition. The jam or stall condition may be detected when a speed of the motor or other motor state reaches or goes beyond a threshold value as prescribed by a reference schedule.

A linear transfer system for a collaborative robot includes a linear bearing extending along a linear axis. A carriage on the linear bearing moves along the linear axis and supports a collaborative robot. One or more load cells are supported on either axial end of the carriage. A motor causes movement of the carriage along the linear axis under the control of a motor control circuit. The circuit receives input signals indicative of forces applied to the load cells. During a programming mode for the system, the circuit may generate control signals for the motor causing movement of the carriage along the linear axis corresponding to the forces applied to the load cells. During an operating mode of the system, the circuit may detect collisions by comparing the forces to a threshold and generating control signals to halt movement of the carriage if a predetermined condition is met.

In sensor-less collision detection of a robot, a conventional method for displaying abnormality of the robot makes an abnormality display of collision detected when a collision is erroneously detected, and does not clarify the situations under which the collision has been erroneously detected. In a method for displaying abnormality of a robot, when a collision of the robot is detected and the collision detection is displayed, at least one abnormality display is selected from a plurality of abnormality detection items different from collision detection. This can offer information useful for the user to understand the situations at occurrence of the erroneous collision detection.

A computer-implemented method of determining a collision between an object and a robot, comprises monitoring one or more articular parts of the robot by measuring the parameters associated with the real displacements of the one or more articular parts; comparing the measured parameters with the expected parameters associated with the corresponding commanded displacements; and determining the probability of a collision with an object. Described developments comprise the exclusion of system failures, the identification of the collided object by computer vision or by communicating with the object, the execution of one or more actions such as a safety mode, the identification of systematic discrepancies in performed comparisons, the grouping of articular parts belonging to a same articular chain, and the mutual surveillance of robots. The use of capacitive sensors, bumper sensors and magnetic rotary encoders is disclosed.