Methods and devices for controlling a shapeable medical device
First Claim
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1. A method of controlling advancement of a shapeable medical device within an anatomic path, the method comprising:
- processing a command from an input device to actuate the shapeable medical device into a desired configuration of one or more portions of the shapeable medical device;
issuing a position control signal to one or more actuators based on a model of shapeable medical device mechanics to advance the shapeable medical device along the anatomic path;
obtaining a plurality of localization data to determine a real shape of at least the one or more portions of the shapeable instrument when advanced along the anatomic path; and
determining a differential between the real shape and the desired configuration of the one or more portions; and
based on the differential between the real shape and the desired configuration of the one or more portions, updating the model of shapeable medical device mechanics and controlling advancement of the shapeable medical device based on the updated model.
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Abstract
Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region.
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Citations
8 Claims
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1. A method of controlling advancement of a shapeable medical device within an anatomic path, the method comprising:
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processing a command from an input device to actuate the shapeable medical device into a desired configuration of one or more portions of the shapeable medical device; issuing a position control signal to one or more actuators based on a model of shapeable medical device mechanics to advance the shapeable medical device along the anatomic path; obtaining a plurality of localization data to determine a real shape of at least the one or more portions of the shapeable instrument when advanced along the anatomic path; and determining a differential between the real shape and the desired configuration of the one or more portions; and based on the differential between the real shape and the desired configuration of the one or more portions, updating the model of shapeable medical device mechanics and controlling advancement of the shapeable medical device based on the updated model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification