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US 2019/0239723 A1Published application
Systems and methods for instrument buckling detection
AssigneeIntuitive Surgical Operations, Inc.
InventorsVincent Duindam, Timothy D. Soper
Life of this patent
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Abstract
A method comprises measuring, with a sensor, a shape of a section of an elongated flexible instrument and comparing the measured shape of the section of the elongated flexible instrument to an expected shape. The method also comprises determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.
Claims26
A method comprising:
- measuring, with a sensor, a shape of a section of an elongated flexible instrument;
- comparing the measured shape of the section of the elongated flexible instrument to an expected shape;
- and
- determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.
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A system comprising:
- an instrument drive system;
- an elongated flexible instrument connected to the instrument drive system;
- a sensor associated with the elongated flexible instrument to measure a shape of the elongated flexible instrument;
- a shape constraint mechanism positioned to constrain the elongated flexible instrument at a section between the instrument drive system and a distal end of the elongated flexible instrument;
- and
- a control system configured to manipulate the elongated flexible instrument using the instrument drive mechanism and determine whether the section of the elongated flexible instrument within at least a portion of the shape constraint mechanism buckles beyond a predefined threshold.
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Dependencies are inferred from the claim text.