Title:
APPARATUS FOR FLEXIBLE INSTRUMENT INSERTION
Document Type and Number:
WIPO Patent Application WO/2018/125917
Kind Code:
A8
Abstract:
A robotic system is described for determining whether a flexible instrument has buckled. The robotic system comprises a medical instrument comprising an elongate body with a sensor thereon and a controller. The controller compares a measured status, derived from sensor data generated by the sensor, and an expected status, based on a command to direct the elongate body. Responsive to the comparison being more or less than threshold, the system determines that the elongate body has buckled. A robotic system is also described for determining an insertion force threshold to avoid applying excessive force. A controller is receives instrument data based on a location of the flexible instrument, accesses patient data, determines a force threshold, receives a force detected by a sensor, compares the force with the force threshold, and when the force exceeds the threshold, generates a recommendation signal for the robotic system.
Inventors:
NOONAN DAVID (US)
TANAKA DON (US)
TANAKA DON (US)
Application Number:
PCT/US2017/068535
Publication Date:
October 11, 2018
Filing Date:
December 27, 2017
Export Citation:
Assignee:
AURIS HEALTH INC (US)
International Classes:
A61B34/30; A61B34/00; A61M25/01; B25J9/10
Attorney, Agent or Firm:
ALTMAN, Daniel, E. (US)
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