CPC A61B 34/37 (2016.02) [A61B 5/066 (2013.01); A61B 5/283 (2021.01); A61B 5/6852 (2013.01); A61B 5/6885 (2013.01); A61B 5/746 (2013.01); A61B 6/503 (2013.01); A61B 8/12 (2013.01); A61B 8/4254 (2013.01); A61B 8/4461 (2013.01); A61B 8/4466 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/71 (2016.02); A61B 34/76 (2016.02); A61B 34/77 (2016.02); A61B 46/10 (2016.02); A61B 90/50 (2016.02); A61M 25/0113 (2013.01); A61M 25/09041 (2013.01); A61B 5/7285 (2013.01); A61B 6/4423 (2013.01); A61B 6/504 (2013.01); A61B 6/541 (2013.01); A61B 8/0891 (2013.01); A61B 8/543 (2013.01); A61B 10/06 (2013.01); A61B 34/25 (2016.02); A61B 2017/003 (2013.01); A61B 2017/00247 (2013.01); A61B 2017/00309 (2013.01); A61B 2017/00327 (2013.01); A61B 2018/00392 (2013.01); A61B 2034/102 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/301 (2016.02); A61B 2034/715 (2016.02); A61B 2090/035 (2016.02); A61B 2090/367 (2016.02); A61B 2090/374 (2016.02); A61B 2090/378 (2016.02); A61B 2090/397 (2016.02); A61B 2090/3925 (2016.02)] | 19 Claims |
1. A medical instrument system, comprising:
an elongate sheath having a lumen;
a working instrument positioned inside the sheath lumen, having a distal end configured to advance out of a distal end opening of the sheath lumen;
at least one sensor coupled to at least one of the elongate sheath or the working instrument, the at least one sensor configured to determine a contact of at least one of the elongate sheath or the working instrument with an object;
a processor in communication with the at least one sensor, the processor being configured to generate a contour map of the object based on the contact and a position determined by the at least one sensor; and
a display in communication with the processor and configured to provide a graphical representation of the generated contour map and a graphical representation of the working instrument relative to the graphical representation of the generated contour map.
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