Method for navigating a robotic surgical catheter
US10603124B2 · kind B2 · utility
13Cited by
1References
5Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Nov 8, 2017 |
| Grant date | Mar 31, 2020 |
| Priority date | — |
| Expiry date | Sep 1, 2038 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/09
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Autonomous closed loop control of a flexible tendon-driven continuum manipulator having a sensor at a distal tip is performed by measuring spatial attributes of a sensor at the distal tip and estimating an orientation of a base of an articulating region of the flexible tendon-driven continuum manipulator from a kinematic model and the spatial attributes of the sensor. The manipulator control in a task space uses the estimated orientation, a desired trajectory in the task space, and the position of the sensor at the distal tip. The sensor at the distal tip may be a magnetic sensor, impedance sensor, or optical sensor.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.