Instrument insertion compensation
US10299870B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 26, 2018 |
| Grant date | May 28, 2019 |
| Priority date | — |
| Expiry date | Jun 26, 2038 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/3966
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Disclosed herein are systems and techniques for compensating for insertion of an instrument into a working channel of another instrument in a surgical system. According to one embodiment, a method of compensation includes: detecting insertion of an insertable instrument into a working channel of a flexible instrument; detecting, based on a data signal from at least one sensor, a position change of a distal portion of the flexible instrument from an initial position: generating a control signal based on the detected position change; and adjusting a tensioning of a pull wire based on the control signal to return the distal portion to the initial position.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.