Catheters with control modes for interchangeable probes
AssigneeIntuitive Surgical Operations, Inc.
InventorsVincent Duindam, Giuseppe Maria Prisco
Life of this patent
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Abstract
A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor.
Claims23
A medical system comprising:
- a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter;
- a sensor configured to at least partly measure a pose of the distal tip;
- and
- a control system coupled to the mechanical system, wherein the control system has a plurality of modes of operation including a holding mode in which the control system operates the mechanical system to actively maintain a working configuration of the distal tip based on feedback from the sensor.
A control system for a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter, and a sensor configured to at least partly measure a pose of the distal tip coupled to the mechanical system, the control system comprising:
- a plurality of modules that control operation the mechanical system based on feedback from the sensor;
- and
- memory storing an indicator identifying a desired working for the distal tip, wherein each of the modules operates the mechanical system to hold the distal tip in the desired working configuration identified by the indicator.
A method comprising:
- steering a catheter to a working site using a mechanical system that is remotely operable to control a distal tip of the catheter;
- identifying a working configuration of the distal tip, wherein the working configuration poses the distal tip for performance of a medical task at the work site;
- selecting one of a plurality of modes for controlling the catheter using feedback from a sensor that measures a pose of the distal tip;
- and
- maintaining the working configuration of the distal tip through operation of the catheter in the selected mode.
Dependencies are inferred from the claim text.