Instrument insertion compensation
AssigneeAuris Health, Inc.
InventorsRyan Jeffrey Connolly, Casey Teal Landey, Chauncey F. Graetzel
Life of this patent
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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.
Claims25
A robotic system, comprising:
- a first instrument, comprising:
- a shaft comprising a proximal portion and a distal portion, the distal portion comprising an articulable region and a distal end, the shaft comprising a working channel extending therethrough;
- and
- at least one pull wire;
- at least one sensor configured to detect a position of the distal end of the shaft;
- at least one computer-readable memory having stored thereon executable instructions;
- one or more processors in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least:
- detect, based on a data signal from the at least one sensor, a position change of the distal end of the shaft in response to insertion of a second instrument into the working channel of the shaft;
- and
- generate at least one control signal based on the detected position change;
- and
- a drive mechanism connected to the at least one pull wire at the proximal portion of the shaft, the drive mechanism configured to adjust a tensioning of the at least one pull wire based on the at least one control signal, wherein the adjusted tensioning facilitates returning the distal end of the shaft towards an initial position before the position change occurred.
A method of controlling at least one pull wire of a first instrument, the method comprising:
- determining an initial position of the first instrument, the first instrument comprising:
- a shaft comprising proximal and distal portions, the distal portion comprising an articulable region and a distal end, the shaft comprising a working channel extending therethrough;
- and
- the at least one pull wire;
- detecting, based on a data signal from at least one sensor, a position change of the distal end of the shaft in response to insertion of a second instrument into the working channel of the first instrument;
- generating at least one control signal based on the detected position change of the distal end of the shaft;
- and
- adjusting a tensioning of the at least one pull wire based on the at least one control signal, wherein the adjusted tensioning facilitates returning the distal end of the shaft to the initial position.
A non-transitory computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to at least, for a first instrument comprising at least one pull wire:
- determine an initial position of a distal end of the first instrument;
- detect, based on a data signal from at least one sensor, a position change of the distal end of the first instrument in response to insertion of a second instrument into a working channel of the first instrument;
- generate at least one control signal based on the detected position change;
- and
- adjust a tensioning of the at least one pull wire based on the at least one control signal, wherein the adjusted tensioning facilitates returning the distal end of the first instrument to the initial position before the position change occurred.
Dependencies are inferred from the claim text.