Nicola Diolaiti,Federico Barbagli,Samuel Y. Chang,Vincent Duindam
申请号：
US16754939
公开号：
US20200253669A1
申请日:
2018.10.05
申请国别(地区):
US
年份:
2020
代理人:
摘要：
Systems and methods for detecting environmental forces on a flexible elongate instrument include an actuator for inserting and retracting the instrument and a control unit. The control unit is configured to determine a force exerted by the instrument on tissue of a patient. The force is determined based on one or more of a shape of the instrument, a force being exerted by the actuator, or an amount of force being applied at a proximal end of the instrument. In some embodiments the control unit determines the shape using a shape sensor. In some embodiments, the control unit determines the force exerted by the actuator based on a current of the actuator. In some embodiments, the control unit determines the amount of force being applied to the proximal end of the instrument using a force sensor located proximal to the instrument.
