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US 2026/0306196 A1Published application
Pullwire slack detection and adjustment for flexible elongate devices
AssigneeIntuitive Surgical Operations, Inc.
InventorsShibing Liu, Samuel B. Schorr
Life of this patent
Estimating the term…
Abstract
Methods and systems to identify slack in pull wires coupled to an articulable body portion of a flexible elongate device include a control system determining a minimum tension for the pull wires based on a bending parameter of the flexible elongate device.
Claims23
A medical system, comprising:
- a flexible elongate device, including a pair of pull wires configured to control articulation of the flexible elongate device along an axis;
- actuators coupled to the pair of pull wires and configured to apply tensions to the pair of pull wires;
- and
- a control system configured to:
- determine a bending parameter for the flexible elongate device based on data from one or more sensors;
- and
- adjust a minimum tension applied to the pair of pull wires by the actuators based on the bending parameter.
4 more elements
-9. (canceled)
-34. (canceled)
A non-transitory computer readable medium having instructions stored thereon that, when executed by a computing device, cause the computing device to:
- determine a bending parameter for a flexible elongate device based on data from one or more sensors;
- and
- adjust a minimum tension applied to a pair of pull wires configured to control articulation of the flexible elongate device by actuators coupled to the pair of pull wires based on the bending parameter.
-45. (canceled)
Dependencies are inferred from the claim text.