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Systems and methods for medical instrument force sensing

A technology for medical devices and devices, which is applied in the field of systems and methods for force sensing of medical devices, and can solve problems such as complex calculation and high cost

Active Publication Date: 2017-05-31
INTUITIVE SURGICAL OPERATIONS INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

These techniques are usually computationally expensive and require extensive variable parameter fitting and optimization
Due to the computational complexity associated with these systems, it is generally not feasible to use these techniques for real-time modeling or prediction of tissue interaction forces at the instrument tip for control and monitoring applications

Method used

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  • Systems and methods for medical instrument force sensing
  • Systems and methods for medical instrument force sensing
  • Systems and methods for medical instrument force sensing

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Embodiment Construction

[0019] For the purposes of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiments illustrated in the drawings, and specific language will be used to describe the same. It should be understood, however, that no limitation of the scope of the present disclosure is intended. In the Detailed Description of Aspects of the Invention, numerous specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. It will be apparent, however, to one skilled in the art that the disclosed embodiments may be practiced without these specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail so as not to unnecessarily obscure aspects of the embodiments of the invention.

[0020] Any changes and further modifications of the described apparatus, apparatus, methods, and any further applications of the principles of the present disclo...

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Abstract

A method for determining the force being placed on the tip of a medical instrument includes receiving inputs from a medical instrument having at least one pull wire used to manipulate a position of the instrument while in a patient's body. The method also includes applying the inputs to a lumped model of the instrument and determining a force on a tip of the instrument based on both the inputs and the lumped model.

Description

[0001] related application [0002] This patent application claims priority and application to U.S. Provisional Patent Application 62 / 041,204, filed August 25, 2014, entitled "SYSTEMS AND METHODS FORMEDICAL INSTRUMENT FORCE SENSING" Day, which is incorporated herein by reference in its entirety. technical field [0003] The present disclosure relates to systems and methods for tracking a medical device within a patient's anatomy during a medical procedure, and more particularly to systems and methods for efficiently determining pressure on a tip of a medical device while the medical device is inside a patient . Background technique [0004] Minimally invasive medical techniques aim to reduce the amount of tissue damaged during medical procedures, thereby reducing recovery time, discomfort and harmful side effects for patients. This minimally invasive technique can be performed through a natural orifice in the patient's anatomy or through one or more surgical incisions. Cl...

Claims

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Application Information

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IPC IPC(8): A61B90/00
CPCA61B1/0016A61B5/062A61B5/065A61B2562/0247A61B2562/0266A61B1/0051A61B34/71A61B2034/301A61B34/30A61B34/37A61B2034/742A61B2034/2061A61M2025/0166A61B1/00006A61B1/009A61M25/0067A61B1/00133A61M2025/0002
Inventor S·K·W·奥
Owner INTUITIVE SURGICAL OPERATIONS INC