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Medical system with multiple operating modes for steering a medical instrument through linked body passages

  • US 9,572,481 B2
  • Filed: 05/13/2011
  • Issued: 02/21/2017
  • Est. Priority Date: 05/13/2011
  • Status: Active Grant
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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