US 12,089,903 B2
Systems and methods for inserting an elongate flexible instrument into an environment
Alain Sadaka, San Jose, CA (US); Wingman C. Tse, Mountain View, CA (US); and Joseph A. Kemp, San Jose, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Dec. 11, 2020, as Appl. No. 17/119,630.
Claims priority of provisional application 62/947,994, filed on Dec. 13, 2019.
Prior Publication US 2021/0177532 A1, Jun. 17, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 17/00234 (2013.01); A61B 34/20 (2016.02); A61B 34/71 (2016.02); A61B 2017/00238 (2013.01); A61B 2017/00305 (2013.01); A61B 2017/00858 (2013.01); A61B 2034/2061 (2016.02); A61B 2034/301 (2016.02); A61B 2090/064 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system for insertion of an elongate flexible instrument into a target environment, the system comprising:
a drive mechanism for driving the elongate flexible instrument along an insertion axis;
a guide device for receiving the elongate flexible instrument from the drive mechanism as the elongate flexible instrument is driven along the insertion axis, the guide device including a rotary mechanism and a motor configured to rotate the rotary mechanism, wherein the guide device is positioned distal of the drive mechanism and near an opening to the target environment;
a sensor system associated with insertion of the elongate flexible instrument along the insertion axis; and
a processor communicatively coupled to the motor and the sensor system, the processor configured to:
receive sensor data from the sensor system;
determine a system state based on the sensor data; and
control, based on the system state, the motor to vary a rate of rotation of the rotary mechanism of the guide device.