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Flexible instrument

  • US 20020087166A1
  • Filed: 11/16/2001
  • Published: 07/04/2002
  • Est. Priority Date: 02/24/1998
  • Status: Active Grant
First Claim
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1. A robotic medical system comprising:

  • a flexible instrument having proximal and distal ends with at least one flexible segment extending through a lumen of the human body, the at least one flexible segment being controllably bendable so as to locate a distal end of the shaft at an internal target site;

    a tool carried at the distal end of the shaft for performing a procedure;

    a master station including an input device;

    a slave station including a receiver for the catheter for controlling through the receiver at least one degree-of-freedom of the catheter; and

    a controller coupled between the master station and the slave station operated in accordance with a computer algorithm that receives a command from said input device and for controlling the at least one degree-of-freedom of the catheter so as to respond in accordance with action at the input device.

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