US 11,672,412 B2
Systems and methods for detecting environmental forces on an elongate device
Nicola Diolaiti, Menlo Park, CA (US); Federico Barbagli, San Francisco, CA (US); Samuel Y. Chang, Mountain View, CA (US); and Vincent Duindam, San Francisco, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Appl. No. 16/754,939
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
PCT Filed Oct. 5, 2018, PCT No. PCT/US2018/054571
§ 371(c)(1), (2) Date Apr. 9, 2020,
PCT Pub. No. WO2019/074786, PCT Pub. Date Apr. 18, 2019.
Claims priority of provisional application 62/572,257, filed on Oct. 13, 2017.
Prior Publication US 2020/0253669 A1, Aug. 13, 2020
Int. Cl. A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 1/005 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 1/0051 (2013.01) [A61B 1/005 (2013.01); A61B 1/009 (2022.02); A61B 17/00234 (2013.01); A61B 34/20 (2016.02); A61B 34/76 (2016.02); A61B 2017/0011 (2013.01); A61B 2017/00115 (2013.01); A61B 2017/00296 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/301 (2016.02); A61B 2090/065 (2016.02); A61B 2562/0261 (2013.01)] 31 Claims
OG exemplary drawing
 
30. A method of operating a medical device, the method comprising:
determining a shape of a flexible elongate instrument and at least one of:
a first force being exerted by an actuator used to drive the flexible elongate instrument; or
a second force being applied to a proximal end of the flexible elongate instrument; and
determining a third force, exerted by the flexible elongate instrument on tissue of a patient, based on the shape and the at least one of the first force or the second force.