Systems and methods for detecting environmental forces on an elongate device
US11672412B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 5, 2018 |
| Grant date | Jun 13, 2023 |
| Priority date | — |
| Expiry date | Aug 24, 2039 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2562/0261
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A medical device includes a flexible elongate instrument, an actuator for inserting and retracting the instrument, and a control unit configured to determine at least one of a force being exerted by the actuator or an amount of force applied at a proximal end of the instrument. The control unit is configured to determine a force exerted by the instrument on tissue of a patient based on a shape of the instrument and at least one of the force exerted by the actuator or the force applied at the proximal end. A method of operating a medical device includes: determining a shape of a flexible elongate instrument and at least one of a first force exerted by an actuator or a second force applied to a proximal end; and determining a third force, exerted on tissue, based on the shape and at least one of the first or second forces.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.