Ron Alterovitz,Luis Guillermo Torres,Philip Joseph Swaney,Hunter Bryant Gilbert,Robert James Webster,Richard Joseph Hendrick
申请号：
US15576619
公开号：
US20180232951A1
申请日:
2016.05.23
申请国别(地区):
US
年份:
2018
代理人:
摘要：
Systems for controlling concentric tube probes are disclosed. In some examples, the system includes a concentric tube position display interface and a control system. The concentric tube display interface includes a display for displaying visual feedback to a user indicating a position (and possibly orientation) of a tip of a concentric tube probe and a user input device for receiving user input from the user designating a goal position (and possibly orientation) for the tip of the concentric tube probe. The control system is configured for interactive-rate motion planning of the concentric tube probe by creating, in real-time or near real-time, a motion plan to move the tip of the concentric tube probe to the goal position (and possibly orientation) while avoiding contact by the concentric tube probe with one or more obstacles and for configuring the concentric tube probe as specified by the motion plan.
