SYSTEMS AND METHODS FOR MEDICAL INSTRUMENT COMPRESSION COMPENSATION
2 Assignments
0 Petitions
Accused Products
Abstract
Certain aspects relate to systems and techniques for compensating for compression in elongated shafts of medical instruments. Medical instruments can include elongated shafts that may experience compression when articulated. The medical instruments can be attached to instrument positioning devices that are configured to move the medical instruments to compensate for this compression. For example, an instrument positioning device can advance a medical instrument to compensate for compression in an elongated shaft of the medical instrument. In some instances, the amount of compression is determined using a compression compensation parameter. The compression compensation parameter can be determined during a calibration process of the medical instrument.
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Citations
31 Claims
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1. (canceled)
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10. A robotic system, comprising:
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a first medical instrument configured for insertion, in use, into a lumen of a patient, the first instrument comprising;
a first elongated shaft, a first pull wire actuable to cause pull wire-based movement of the first elongated shaft, and a first instrument base including a first drive input for actuating the first pull wire;a first instrument positioning device attached to the first instrument base and configured to move to advance or retract the first instrument through the lumen of the patient; at least one non-transitory computer readable medium having stored thereon executable instructions; and at least one processor in communication with the at least one non-transitory computer readable medium and configured to execute the instructions to cause the system to at least; determine an axial compression of the first elongated shaft; determine a distance to move the first instrument positioning device to compensate for the determined axial compression of the first elongated shaft; and move the first instrument positioning device to either advance or retract the first elongated shaft of the first instrument through the lumen of the patient by the determined distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 11, 12, 13, 14, 15, 16, 17, 18)
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19-30. -30. (canceled)
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31. A robotic system, comprising:
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a first medical instrument configured for insertion, in use, into a lumen of a patient, the first instrument comprising;
a first elongated shaft, a first pull wire actuable to cause pull wire-based movement of the first elongated shaft, and a first instrument base including a first drive input for actuating the first pull wire;a first instrument positioning device attached to the first instrument base and configured to move to advance or retract the first instrument through the lumen of the patient; at least one non-transitory computer readable medium having stored thereon executable instructions; and at least one processor in communication with the at least one non-transitory computer readable medium and configured to execute the instructions to cause the system to at least; receive a commanded pull-wire based movement to articulate the first elongated shaft; determine an axial compression of the first elongated shaft expected to be caused by the commanded pull-wire based movement using a compression compensation parameter that relates pull-wire based movement to axial compression, wherein the compression compensation value is stored in a memory; determine a distance to move the first instrument positioning device to compensate for the determined axial compression of the first elongated shaft; and execute the commanded pull-wire based movement while moving the first instrument positioning device to either advance or retract the first elongated shaft of the first instrument by the determined distance through the lumen of the patient.
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Specification