SYSTEMS AND METHODS FOR FLEXIBLE COMPUTER-ASSISTED INSTRUMENT CONTROL

SYSTEMS AND METHODS FOR FLEXIBLE COMPUTER-ASSISTED INSTRUMENT CONTROL

A medical system comprises a flexible elongate instrument comprising a plurality of wires useable to control articulation of the flexible elongate instrument. A control system is configured to: monitor movement of the flexible elongate instrument; determine an extent of motion of the flexible elonga...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: DIOLAITI, Nicola, CHANG, Samuel Y, DUINDAM, Vincent
Format: Patent
Sprache:eng ; fre ; ger
Schlagworte:
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
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Beschreibung
Zusammenfassung:A medical system comprises a flexible elongate instrument comprising a plurality of wires useable to control articulation of the flexible elongate instrument. A control system is configured to: monitor movement of the flexible elongate instrument; determine an extent of motion of the flexible elongate instrument based on the monitoring; determine a mode of operation for the flexible elongate instrument from a plurality of modes of operation based on the monitoring, the plurality of modes of operation including a retraction mode, an insertion mode, and a parking mode; and in response to a change in the mode of operation, alter a rigidity of the flexible elongate instrument with a rate of rigidity change that is based on the extent of motion using one or more of the plurality of wires.