# US 12,005,574 B2 · Systems and methods for motion control of steerable devices > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,574 B2 - Document ID: US12005574B2 - Status: Granted - Kind: B2 - Application number: 17/279,818 - Filed: 2019-10-01 - Published: 2022-01-13 - Granted: 2024-06-11 - Earliest claimed: 2018-10-04 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Nicola Diolaiti - Web page: https://patentgrep.com/patent/US12005574B2 ## CPC - A61B 1/00006: {of control signals} - B25J 9/065: {Snake robots} - A61B 34/35: for telesurgery - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - G05B 19/4155: characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - G05B 2219/50391: Robot - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A system may comprise a control device configured to receive user inputs and a manipulator system including an actuator configured to receive and drive a steerable device. The system may also comprise a control system communicatively coupled to the manipulator system. The control system may be configured to track a virtual user-instructed position based on a first user input, determine a device position of a portion of the steerable device, and determine a position discrepancy in a first direction between the determined device position and the virtual user-instructed position. The control system may also be configured to receive a second user input commanding motion of the steerable device in a second direction, opposite the first direction. In response to the second user input, the position discrepancy may be reduced based on an aspect of the second user input and a catch-up profile. ## Claims ### Claim 1 A system comprising: a control device configured to receive user inputs; a manipulator system including an actuator configured to receive and drive a steerable device; and a control system communicatively coupled to the manipulator system and the control device, the control system configured to: track a virtual user-instructed position based on a first user input; determine a device position of a portion of the steerable device; determine a position discrepancy in a first direction between the determined device position and the virtual user-instructed position; receive a second user input commanding motion of the steerable device in a second direction, wherein at least a portion of the second direction is opposite the first direction; and in response to the second user input, reduce the position discrepancy based on an aspect of the second user input and a catch-up profile. ### Claim 2 (depends on 1) The system of claim 1, wherein the control system is configured to reduce the position discrepancy by reducing tension in a steering control of the steerable device. ### Claim 3 (depends on 1) The system of claim 1, wherein the aspect of the second user input comprises at least one of a magnitude of the second user input or a duration of the second user input. ### Claim 4 (depends on 1) The system of claim 1, wherein the catch-up profile is based on at least one of: a shape of the steerable device, a sensitivity of a passageway in which the steerable device is disposed, or an operator preference. ### Claim 5 (depends on 1) The system of claim 1, wherein the catch-up profile reduces the position discrepancy by applying a catch-up velocity to the second user input. ### Claim 6 (depends on 5) The system of claim 5, wherein the catch-up velocity is configured such that control of the steerable device is more sensitive to input that reduces the position discrepancy than to input that increases the position discrepancy. ### Claim 7 (depends on 1) The system of claim 1, wherein the catch-up profile includes a first region configured to have a first sensitivity and a second region configured to have a second sensitivity that is different from the first sensitivity. ### Claim 8 (depends on 7) The system of claim 7, wherein the first region is associated with a greater position discrepancy than the second region, and the first sensitivity is greater than the second sensitivity. ### Claim 9 (depends on 7) The system of claim 7, wherein the first region is associated with a greater position discrepancy than the second region, and the first sensitivity is less than the second sensitivity. ### Claim 10 (depends on 1) The system of claim 1, wherein the control system is configured to: receive a third user input commanding motion of the steerable device in the first direction; determine that the third user input causes the position discrepancy to exceed a threshold; and suppress a response to the third user input based on the determination that the third user input causes the position discrepancy to exceed the threshold. ### Claim 11 (depends on 1) The system of claim 1, wherein the virtual user-instructed position does not change in response to a load on the steerable device. ### Claim 12 (depends on 1) The system of claim 1, wherein the control system is configured to: detect a fault; and in response to the fault, reduce the position discrepancy without motion of the steerable device that is perceptible to an operator. ### Claim 13 (depends on 12) The system of claim 12, wherein the control system is configured to reduce the position discrepancy in response to the fault by eliminating tension in a steering control of the steerable device. ### Claim 14 An apparatus comprising: one or more processors; and non-transitory computer memory storing machine-executable instructions that, when executed by the one or more processors, cause the apparatus to: receive, from a control device, a first user input commanding motion of a steerable device in a first direction; track a virtual user-instructed position based on the first user input; command an actuator coupled to the steerable device to move the steerable device in the first direction based on the first user input, wherein movement of the steerable device in response to the first user input generates a position discrepancy; detect, from a sensor of the steerable device, a device position of a portion of the steerable device; determine a measure of the position discrepancy; receive, from the control device, a second user input commanding motion of the steerable device in a second direction, wherein at least a portion of the second direction is opposite the first direction; and in response to the second user input, reduce the position discrepancy based on an aspect of the second user input and a catch-up profile. ### Claim 15 (depends on 14) The apparatus of claim 14, wherein the position discrepancy is associated with a tension in the steerable device, and wherein the non-transitory computer memory stores machine-executable instructions that, when executed by the one or more processors, cause the apparatus to command the actuator to reduce the tension in the steerable device based on the catch-up profile. ### Claim 16 (depends on 14) The apparatus of claim 14, wherein the aspect of the second user input includes at least one of a magnitude of the second user input or a duration of the second user input. ### Claim 17 (depends on 14) The apparatus of claim 14, wherein the catch-up profile is based on at least one of: a shape of the steerable device, a sensitivity of a passageway in which the steerable device is disposed, or an operator preference. ### Claim 18 (depends on 14) The apparatus of claim 14, wherein the catch-up profile applies a catch-up velocity to the second user input. ### Claim 19 (depends on 14) The apparatus of claim 14, wherein the catch-up profile is such that the apparatus is more sensitive to user input that reduces the position discrepancy than to user input that increases the position discrepancy. ### Claim 20 (depends on 14) The apparatus of claim 14, wherein the catch-up profile has a first region associated with greater position discrepancy and a second region associated with lesser position discrepancy, and wherein a first sensitivity of the first region is greater than a second sensitivity of the second region.