Catheter with removable vision probe

A method of controlling at least one pull wire of an instrument, the method comprising:

• recording a working configuration of the instrument using a computing device, the instrument comprising:
• a proximal section,
• a distal section, the distal section comprising a steerable segment and a distal tip,
• a main lumen extending through the instrument, and
• the at least one pull wire;
• inserting a probe into the main lumen of the instrument;
• determining, based on a sensor signal from at least one sensor, a movement of the distal tip of the instrument away from the recorded working configuration in response to the insertion of the probe;
• generating at least one control signal based on the determined movement of the distal tip of the instrument;
• 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 tip of the instrument to the recorded working configuration.

A non-transient computer readable storage medium having stored thereon instructions that, when executed, cause at least one computing device to at least, for an instrument comprising at least one pull wire:

• pose a distal tip of the instrument in a working configuration;
• determine a position of the working configuration of the distal tip of the instrument;
• determine, based on a sensor signal from at least one sensor, a movement of the distal tip of the instrument in response to insertion of a probe into a main lumen of the instrument;
• generate at least one control signal based on the determined movement;
• 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 tip of the instrument to the position of the working configuration.