US 12,256,891 B2
Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
Robert Eno, Mountain View, CA (US); Amir Belson, Los Altos, CA (US); David Blaha, Sunnyvale, CA (US); David Mintz, Mountain View, CA (US); and Bruce R. Woodley, Palo Alto, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Aug. 9, 2019, as Appl. No. 16/536,868.
Application 16/536,868 is a division of application No. 15/156,686, filed on May 17, 2016, granted, now 10,426,412.
Application 15/156,686 is a division of application No. 14/039,147, filed on Sep. 27, 2013, granted, now 9,357,901, issued on Jun. 7, 2016.
Application 14/039,147 is a division of application No. 11/750,988, filed on May 18, 2007, granted, now 8,568,299, issued on Oct. 29, 2013.
Claims priority of provisional application 60/747,783, filed on May 19, 2006.
Prior Publication US 2019/0357858 A1, Nov. 28, 2019
Int. Cl. A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/008 (2006.01); A61B 5/00 (2006.01); A61B 5/06 (2006.01)
CPC A61B 1/00045 (2013.01) [A61B 1/00042 (2022.02); A61B 1/0053 (2013.01); A61B 1/0055 (2013.01); A61B 1/0057 (2013.01); A61B 1/008 (2013.01); A61B 5/06 (2013.01); A61B 5/743 (2013.01); A61B 5/7435 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A method for controlling an orientation of a steerable distal portion of an elongate instrument, said steerable distal portion comprising a plurality of segments coupled in series by one or more joints between adjacent segments such that respective segments of the plurality of segments articulate about either the x-axis or the y-axis, said instrument comprising a plurality of tensioning members attached to said steerable distal portion, said method comprising:
receiving an input command at a controller for a commanded articulation of said steerable distal portion, the commanded articulation correlating to an overall commanded y-bend and an commanded overall x-bend of the respective segments of said steerable distal portion;
in response to receiving the input command:
calculating, based on the commanded articulation, a commanded overall bend magnitude based on a combination of:
a magnitude of the commanded overall y-bend of segments of the steerable distal portion configured to articulate about the y-axis, and
a magnitude of the commanded overall x-bend of segments of the steerable distal portion configured to articulate about the x-axis,
wherein the magnitude of each of the commanded overall y-bend and the commanded overall x-bend is a non-zero value and the commanded overall bend magnitude is the approximate overall angle by which the steerable distal portion is bent relative to a longitudinal axis of the instrument proximal of the steerable distal portion; and
one of:
causing actuation of one or more of said plurality of tensioning members to achieve said articulation of said steerable distal portion corresponding to the commanded articulation on a condition of said calculated commanded overall bend magnitude being equal to or less than a preset limit, or
preventing actuation of the one or more of said plurality of tensioning members from achieving said articulation of said steerable distal portion corresponding to the commanded articulation on a condition of said calculated commanded overall bend magnitude being greater than said preset limit.