公开(公告)号：US09808140B2

公开(公告)日：2017-11-07

申请号：US14486708

申请日：2014-09-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amir Belson ,  Paul DeWitt Frey ,  Christine Wei Hsien McElhaney ,  James Craig Milroy ,  Robert Matthew Ohline ,  Joseph M. Tartaglia

IPC: A61B1/005 ,  A61B5/06 ,  A61B1/00 ,  A61B1/008 ,  A61B1/31 ,  A61B1/015 ,  A61B1/018 ,  A61B1/05 ,  A61B34/00 ,  A61B34/30

CPC classification number: A61B1/00004 ,  A61B1/00055 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/008 ,  A61B1/015 ,  A61B1/018 ,  A61B1/05 ,  A61B1/31 ,  A61B5/065 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742

Abstract: A system for determining the shape of a surgical instrument includes an elongate instrument body having a selectively steerable distal tip, a pair of automatically controlled segments proximal to the selectively steerable distal tip, and a joint that couples the pair of adjacent automatically controlled segments together. An actuator changes an angle of the joint and a position encoder provides information associated with the joint angle. A controller receives the information associated with the angle of the joint and generates a three dimensional model of a shape of the instrument. A method for determining the three dimensional shape of an instrument includes providing axial position data to a controller, providing angular position data to the controller from a respective segment controller, and generating a three-dimensional model of a shape of said instrument using the axial position data and the angular position data.