US 11,980,344 B2
Systems and methods for instrument buckling detection
Vincent Duindam, San Francisco, CA (US); and Timothy D. Soper, San Jose, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Appl. No. 16/331,657
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
PCT Filed Sep. 20, 2017, PCT No. PCT/US2017/052534
§ 371(c)(1), (2) Date Mar. 8, 2019,
PCT Pub. No. WO2018/057633, PCT Pub. Date Mar. 29, 2018.
Claims priority of provisional application 62/397,426, filed on Sep. 21, 2016.
Prior Publication US 2019/0239723 A1, Aug. 8, 2019
Int. Cl. A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/01 (2006.01); A61B 5/00 (2006.01); A61B 5/06 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 1/00149 (2013.01) [A61B 1/00006 (2013.01); A61B 1/00057 (2013.01); A61B 1/0016 (2013.01); A61B 1/009 (2022.02); A61B 1/01 (2013.01); A61B 5/065 (2013.01); A61B 5/6852 (2013.01); A61B 34/25 (2016.02); A61B 34/35 (2016.02); A61B 34/37 (2016.02); A61B 34/76 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/254 (2016.02); A61B 2034/301 (2016.02); A61B 2090/065 (2016.02); A61B 2090/3614 (2016.02); A61B 2090/371 (2016.02); A61B 2090/3735 (2016.02); A61B 2090/374 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
measuring, with a sensor fixed to an elongated flexible instrument and while a distal end of the elongate flexible instrument is internal to a patient, a shape of a section of the elongated flexible instrument disposed within a shape constraint device configured to remain external to the patient;
comparing the measured shape of the section of the elongated flexible instrument to an expected shape; and
determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.