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 |
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.
|