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Instrument insertion compensation

  • US 10,299,870 B2
  • Filed: 06/26/2018
  • Issued: 05/28/2019
  • Est. Priority Date: 06/28/2017
  • Status: Active Grant
First Claim
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1. A robotic system, comprising:

  • a first instrument, comprising;

    a shaft comprising a proximal portion and a distal portion, the distal portion comprising an articulable region and a distal end, the shaft comprising a working channel extending therethrough; and

    at least one pull wire;

    at least one sensor configured to detect a position of the distal end of the shaft;

    at least one computer-readable memory having stored thereon executable instructions;

    one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least;

    detect, based on a data signal from the at least one sensor, a position change of the distal end of the shaft in response to insertion of a second instrument into the working channel of the shaft; and

    generate at least one control signal based on the detected position change; and

    a drive mechanism connected to the at least one pull wire at the proximal portion of the shaft, the drive mechanism configured to adjust a tensioning of the at least one pull wire based on the at least one control signal, wherein the adjusted tensioning facilitates returning the distal end of the shaft towards an initial position before the position change occurred.

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