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Robotic catheter systems and methods

  • US 8,391,957 B2
  • Filed: 03/26/2008
  • Issued: 03/05/2013
  • Est. Priority Date: 03/26/2007
  • Status: Active Grant
First Claim
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1. A robotic instrument system, comprising:

  • an elongate flexible instrument;

    a controller configured to selectively actuate one or more motors operably coupled to the instrument to thereby selectively move a distal end portion of the instrument within an anatomical workspace in which the instrument is located; and

    an imaging device coupled to the distal end portion of the instrument and configured to acquire images of tissue regions and structures located within in a field of view,wherein the controller is further configured to determine which tissue regions and structures within the anatomical workspace are locatable within the field of view of the imaging device based, at least in part, upon a present relative position of the instrument distal end portion.

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