US 12,350,827 B2
Systems and methods for control of steerable devices
Nicola Diolaiti, Menlo Park, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on May 22, 2024, as Appl. No. 18/671,140.
Application 18/671,140 is a continuation of application No. 17/279,753, granted, now 12,023,803, previously published as PCT/US2019/053953, filed on Oct. 1, 2019.
Claims priority of provisional application 62/741,338, filed on Oct. 4, 2018.
Prior Publication US 2024/0308063 A1, Sep. 19, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06F 17/00 (2019.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); B25J 9/06 (2006.01); G05B 19/4155 (2006.01); A61B 34/30 (2016.01)
CPC B25J 9/065 (2013.01) [A61B 34/35 (2016.02); A61B 34/37 (2016.02); G05B 19/4155 (2013.01); A61B 2034/301 (2016.02); G05B 2219/45117 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
monitoring movement of an elongate device;
receiving user input commanding motion of the elongate device;
determining a mode of operation based on at least one of the monitored movement or the received user input; and
adjusting a property of the elongate device based on a profile associated with the mode of operation, wherein the adjusting the property of the elongate device includes:
maintaining the property of the elongate device substantially the same during a first interval;
reducing a rigidity of the elongate device at a first rate during a second interval; and
reducing the rigidity of the elongate device at a second rate, different from the first rate, during a third interval.