公开(公告)号：US20220273280A1

公开(公告)日：2022-09-01

申请号：US17762327

申请日：2020-09-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel B. Schorr ,  Nicola Diolaiti ,  Wanxi Liu

IPC: A61B17/00 ,  A61B34/37 ,  B25J9/16

Abstract: A system including a flexible catheter configured to articulate along a degree of freedom. An actuator is disposed at a proximal portion of the flexible catheter. The actuator is configured to actuate the flexible catheter along the degree of freedom. An articulation sensor is configured to provide articulation sensor signals representing articulation of the flexible catheter. An actuator sensor is configured to provide actuator sensor signals representing movement of the actuator. A controller is coupled to the actuator and configured to, based on determining that a state of a first articulation sensor signal prevents or hinders the first articulation signal from being used as a feedback signal for controlling the actuator to: determine an articulation estimate of the flexible catheter based on a model of the flexible catheter applied to a first actuator sensor signal; and, control the actuator based on the articulation estimate.

公开(公告)号：US20210282624A1

公开(公告)日：2021-09-16

申请号：US17258096

申请日：2019-07-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Kirk A. Nichols ,  Nicola Diolaiti ,  Wanxi Liu ,  June Gyu Park

IPC: A61B1/00 ,  G16H40/63 ,  A61B1/005 ,  A61B90/00

Abstract: A method of detecting a tool being received in a medical system, the method including receiving, in a tool recognition assembly having a first reader with a first detection zone, the tool having a first target. The method also includes acquiring first sensor data from the first reader for the first detection zone and detecting an indication of an absence of the first target when the first sensor data is within a first pre-determined threshold range and logging the absence indication. The method also includes creating an insertion signature associated with the tool being received in the tool recognition assembly by combining, in a chronological sequence, the absence and presence indications from the first reader. The method further includes comparing the insertion signature to a predetermined set of model insertion signatures and determining a characteristic of the tool being received in the tool recognition assembly based on the comparing.