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US 2025/0152284 A1Published application
Methods, apparatus and systems for manipulating a medical device
AssigneeCanon Kabushiki Kaisha
InventorsBrian Ninni, Takahisa Kato, Fumitaro Masaki, Charles George Hwang, HuaLei Shelley Zhang, Kiyoshi Takagi
Life of this patent
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Abstract
A continuum robot having at least two independently manipulatable bendable section for advancing the robot through a passage, without contacting fragile elements within the passage, wherein the robot incorporates a system, method and apparatus including a ‘relax mode’ capable of relaxing at least one of the bendable sections, allowing the bendable section to conform to the surrounding anatomy.
Claims21
A robotic apparatus comprising:
- a continuum robot including a plurality of bending sections including a distal bending section and a proximal bending section wherein each of the bending sections are bent by at least one wire;
- a driver that drives the wire;
- and
- an operational console that controls a movement of the driver, based on an input,
- wherein the operational console includes at least one motor for moving the at least one wire, and at least one sensor in communication with the wire for detecting a force on the at least one wire, and
- wherein the operational console further comprises a relax mode for reducing tensile or compression forces in the at least one wire for relaxing at least one of the bendable sections by using force feedback control of the at least one motor based on information from the at least one sensor.
3 more elements
A method for controlling a robotic apparatus:
- the robotic apparatus comprising:
- a continuum robot including a plurality of bending sections including a distal bending section and a proximal bending section wherein each of the bending sections are bent by at least one wire;
- a driver that drives the at least one wire;
- an operational console that controls a movement of the drive, based on an input;
- and
- a sensor in communication with the at least one wire for detecting a force on the at least one wire,
- wherein the method comprises:
- receiving an input from a user to the operational console;
- sending a signal from the operational console to the driver to drive the at least one wire to manipulate the continuum robot;
- monitoring the sensor to detect a force on the sensor;
- engaging a relax mode for reducing tensile or compression forces in the at least one wire for relaxing at least one of the bendable sections by using force feedback control of the at least one motor based on information from the sensor.
8 more elements
Dependencies are inferred from the claim text.