METHODS AND DEVICES FOR CONTROLLING A SHAPEABLE INSTRUMENT
First Claim
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1. A method of controlling a shapeable instrument within an anatomical region using a robotic medical system, the method comprising:
- operatively coupling one or more actuators to one or more positioning elements of a shapeable instrument where the one or more positioning elements are adapted to move the shapeable instrument and where the actuators manipulate the positioning elements;
advancing the shapeable instrument to the anatomical region, where the shapeable instrument includes a working section;
generating a position control signal in response to position the working section at a desired position;
obtaining a plurality of localized shape data of a first portion of the shapeable instrument using a localization system; and
controlling the actuators using the position control signal to manipulate the positioning control elements to drive at least the first portion of the shapeable instrument to position the working section toward the desired position, where the controller generates a signal based upon a differential between the localized shape data and a desired configuration of the first portion of the shapeable instrument.
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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 of controlling a shapeable instrument within an anatomical region using a robotic medical system.
230 Citations
35 Claims
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1. A method of controlling a shapeable instrument within an anatomical region using a robotic medical system, the method comprising:
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operatively coupling one or more actuators to one or more positioning elements of a shapeable instrument where the one or more positioning elements are adapted to move the shapeable instrument and where the actuators manipulate the positioning elements; advancing the shapeable instrument to the anatomical region, where the shapeable instrument includes a working section; generating a position control signal in response to position the working section at a desired position; obtaining a plurality of localized shape data of a first portion of the shapeable instrument using a localization system; and controlling the actuators using the position control signal to manipulate the positioning control elements to drive at least the first portion of the shapeable instrument to position the working section toward the desired position, where the controller generates a signal based upon a differential between the localized shape data and a desired configuration of the first portion of the shapeable instrument. - View Dependent Claims (2, 3, 4, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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- 5. The method of claim 5, where the desired configuration of the first portion comprises a desired position of the first portion and where the method further comprises generating the signal based upon the differential between the position of the working section and the desired position of the working section.
Specification