Ryan Jeffrey Connolly,Casey Teal Landey,Chauncey F. Graetzel
申请号：
US16408329
公开号：
US20190262086A1
申请日:
2019.05.09
申请国别(地区):
US
年份:
2019
代理人:
摘要：
Disclosed herein are systems and techniques for compensating for insertion of an instrument into a working channel of another instrument in a surgical system. According to one embodiment, a method of compensation includes: detecting insertion of an insertable instrument into a working channel of a flexible instrument； detecting, based on a data signal from at least one sensor, a position change of a distal portion of the flexible instrument from an initial position: generating a control signal based on the detected position change； and adjusting a tensioning of a pull wire based on the control signal to return the distal portion to the initial position.
