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Steerable endoscope and improved method of insertion

  • US 9,138,132 B2
  • Filed: 01/06/2014
  • Issued: 09/22/2015
  • Est. Priority Date: 04/03/2000
  • Status: Expired due to Fees
First Claim
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1. A system for controlling movement of a steerable instrument along a path, comprising:

  • a flexible and steerable instrument;

    an electronic memory comprising a stored three-dimensional model, wherein the three-dimensional model is generated based on signals from the instrument as it traverses along the path; and

    an electronic motion controller logically coupled to the electronic memory, wherein the electronic motion controller is configured to automatically control the instrument to traverse the path based on the three-dimensional model.

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