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AssigneeIntuitive Surgical Operations, Inc.
InventorsRobert Eno, Amir Belson, David Blaha, David Mintz, Bruce R. Woodley
Estimating the term…
A method for controlling an orientation of a steerable distal portion of an elongate instrument, said instrument comprising at least one tensioning member attached to said steerable distal portion may include receiving an input command at a controller for articulation of said steerable distal portion, the articulation correlating to an approximate y-bend and an approximate x-bend of said steerable distal portion; calculating an approximate overall bend from said approximate y-bend and said approximate x-bend; and setting a limit of said approximate overall bend beyond which said steerable distal portion is not permitted to achieve. The method may further include one of: causing actuation of said at least one tensioning member to achieve said y-bend and said x-bend on a condition of said calculated approximate overall bend being equal to or less than said limit, and repeating the receiving, calculating, and setting steps on a condition of said calculated approximate overall bend being greater than said limit.
A method for controlling an orientation of a steerable distal portion of an elongate instrument, said steerable distal portion comprising a plurality of segments coupled in series by one or more joints between adjacent segments such that respective segments of the plurality of segments articulate about either the x-axis or the y-axis, said instrument comprising a plurality of tensioning members attached to said steerable distal portion, said method comprising:
A system, comprising:
Dependencies are inferred from the claim text.