Methods and devices for controlling a shapeable medical device
First Claim
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1. A method of preparing a robotic medical system for use with a shapeable instrument, where the shapeable instrument includes a working end and one or more positioning elements that move the shapeable instrument:
- obtaining a plurality of localization data to determine a real shape of at least the first portion of the shapeable instrument;
pretensioning the shapeable instrument by incrementally actuating at least one of the actuators, thereby causing a movement of the first portion of the shapeable instrument from an initial position to a pretensioned shape, the movement reducing a slack in the shapeable instrument; and
providing the movement to a controller including a master input device, wherein the controller accounts for the movement in at least one actuation command where the actuation command manipulates one or more of the positioning elements to reposition the working end or 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 preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region.
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Citations
14 Claims
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1. A method of preparing a robotic medical system for use with a shapeable instrument, where the shapeable instrument includes a working end and one or more positioning elements that move the shapeable instrument:
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obtaining a plurality of localization data to determine a real shape of at least the first portion of the shapeable instrument; pretensioning the shapeable instrument by incrementally actuating at least one of the actuators, thereby causing a movement of the first portion of the shapeable instrument from an initial position to a pretensioned shape, the movement reducing a slack in the shapeable instrument; and providing the movement to a controller including a master input device, wherein the controller accounts for the movement in at least one actuation command where the actuation command manipulates one or more of the positioning elements to reposition the working end or the first portion of the shapeable instrument. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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Specification