Robert ENO,Amir BELSON,David BLAHA,David MINTZ,Bruce R. WOODLEY
申请号：
US16536868
公开号：
US20190357858A1
申请日:
2019.08.09
申请国别(地区):
US
年份:
2019
代理人:
摘要：
A method for controlling an orientation of a steerable distal portion of an elongate instrument, said instrument comprising at least one tensioning member attached to said steerable distal portion may include receiving an input command at a controller for articulation of said steerable distal portion, the articulation correlating to an approximate y-bend and an approximate x-bend of said steerable distal portion； calculating an approximate overall bend from said approximate y-bend and said approximate x-bend； and setting a limit of said approximate overall bend beyond which said steerable distal portion is not permitted to achieve. The method may further include one of: causing actuation of said at least one tensioning member to achieve said y-bend and said x-bend on a condition of said calculated approximate overall bend being equal to or less than said limit, and repeating the receiving, calculating, and setting steps on a condition of said calculated approximate overall bend being greater than said limit.
