ROBOTIC INSTRUMENT DRIVE CONTROL

A robotic system includes a medical device including an elongate shaft dimensioned to be at least partially disposed within an access sheath, and a control circuit configured to retract the elongate shaft at least partially within the access sheath, a position of a distal end of the elongate shaft relative to the access sheath is determined, and a retraction speed of the elongate shaft is modified based on the determined position of the distal end of the elongate shaft relative to the access sheath. 一种机器人系统包括医疗器械，该医疗器械包括细长轴和控制电路，该细长轴的尺寸被设定成至少部分地设置在进入护套内，该控制电路被配置为使该细长轴至少部分地在该进入护套内缩回，确定该细长轴的远侧端部相对于该进入护套的位置，以及基于该细长轴的该远侧端部相对于该进入护套的所确定的位置来修改该细长轴的回缩速度。