Medical system with multiple operating modes for steering a medical instrument through linked body passages
First Claim
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1. A medical system comprising:
- a steerable medical instrument defining a central axis therethrough, the steerable medical instrument comprising a steerable tip at a distal end thereof;
at least one actuator; and
control means for;
commanding the at least one actuator to actively steer the medical instrument according to a programmed navigation path according to an insertion control mode as the medical instrument moves in an insertion direction along the central axis through an anatomic passageway;
transitioning from the insertion control mode to a manual override control mode in response to movement of an operator input device that is in contradiction to the programmed navigation path; and
while in the manual override control mode, displaying on a display screen a graphical indication of a steering direction corresponding to the programmed navigation path.
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Abstract
A controller operates in different operating modes to control movement of a distal tip of a medical instrument when inserting and retracting the medical instrument through linked body passages. When inserting the medical instrument, the controller normally operates in an automatic navigation mode unless manually overridden to operate in a manual mode. When retracting the medical instrument, the controller normally operates in a zero-force mode to allow the distal tip to freely move so that it may comply with the shape of the passages as the medical instrument is being retracted through the linked body unless manually overridden to operate in a manual mode.
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Citations
19 Claims
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1. A medical system comprising:
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a steerable medical instrument defining a central axis therethrough, the steerable medical instrument comprising a steerable tip at a distal end thereof; at least one actuator; and control means for; commanding the at least one actuator to actively steer the medical instrument according to a programmed navigation path according to an insertion control mode as the medical instrument moves in an insertion direction along the central axis through an anatomic passageway; transitioning from the insertion control mode to a manual override control mode in response to movement of an operator input device that is in contradiction to the programmed navigation path; and while in the manual override control mode, displaying on a display screen a graphical indication of a steering direction corresponding to the programmed navigation path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for controlling steering of a medical instrument, the method comprising:
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receiving an indication of movement of the medical instrument along a central axis defined through the medical instrument; and commanding at least one actuator to actively steer a steerable tip of the medical instrument according to a programmed navigation path according to an insertion control mode as the medical instrument moves in an insertion direction along the central axis through an anatomic passageway transitioning from the insertion control mode to a manual override control mode in response to movement of an operator input device that is in contradiction to the programmed navigation path; and while in the manual override control mode, displaying on a display screen a graphical indication of a steering direction corresponding to the programmed navigation path.
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13. A medical system comprising:
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an operator input device; a medical instrument; at least one insertion actuator; at least one steering actuator; and control means for commanding the at least one insertion actuator to move the medical instrument in an insertion direction in response to a movement of the operator input device commanding such insertion in a normal control mode and commanding the at least one steering actuator to steer the medical instrument according to a programmed navigation path in the normal control mode in response to the movement of the operator input device, for commanding the at least one steering actuator to cause the medical instrument to be steered according to another movement of the operator input device commanding such steering when the normal control mode is manually overridden by an operator of the operator input device, and for commanding the at least one steering actuator to steer the medical instrument according to an updated programmed navigation path based on a resulting pose of the medical instrument caused by the other movement of the operator input device, wherein the updated programmed navigation path is different that the programmed navigation path. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A method for controlling steering of a medical instrument, the method comprising:
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commanding at least one insertion actuator to move the medical instrument in an insertion direction in response to movement of an operator input device commanding such insertion and commanding at least one steering actuator to steer the medical instrument according to a programmed navigation path in response to the movement of the operator input device; receiving a manual override indication based on another movement of the operator input device; in response to the manual override indication, commanding the at least one steering actuator to steer the medical instrument according to the other movement of the operator input device such that the medical instrument has a resulting pose; and commanding the at least one steering actuator to steer the medical instrument according to an updated programmed navigation path based on the resulting pose of the medical instrument caused by the other movement of the operator input device, wherein the updated programmed navigation path is different from the programmed navigation path.
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Specification