Torque-based catheter articulation
AssigneeAuris Health, Inc.
InventorsJ. Scot Hart, Francis Macnamara
Life of this patent
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Abstract
A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter.
Claims5
A method comprising:
- receiving a user command signal from a user input device;
- generating a command torque signal in response to the user command signal;
- rotating a rotatable body in response to the command torque signal, the rotatable body coupled to an elongate member, the elongate member coupled to a medical instrument and configured to articulate the medical instrument in response to rotation by the rotatable body;
- detecting an actual torque by the rotatable body;
- generating an actual torque signal in response to the actual torque detected by a torque sensor;
- and
- adjusting the command torque signal in response to the actual torque signal;
- wherein the detecting of the actual torque is performed by the torque sensor installed on the rotatable body;
- wherein the rotatable body is a drive shaft.
Dependencies are inferred from the claim text.