Patent ID: 9452276
Filing Date: 2016-09-27
CPC Classification: A61B,A61M

Claim Text:
1. A medical system comprising: a catheter having a main lumen and a mechanical system, wherein the mechanical system is connected to control a pose of a steerable distal tip of the catheter, the pose including a position and orientation of the steerable distal tip of the catheter; a sensor system coupled to the catheter to generate measurement signals associated with the catheter; and a control system coupled to the sensor system to receive measurement signals and coupled to the mechanical system to control the catheter, wherein the control system is operable to identify a desired working configuration of the distal tip while an imaging device is deployed in the main lumen for obtaining images and providing the obtained images to an operator interface, wherein the desired working configuration comprises a desired pose of the distal tip of the catheter, the desired pose comprising a desired position and a desired orientation of the distal tip, and the control system is further operable to receive orientation information about the distal tip from the measurement signals generated by the sensor system when the imaging device has been removed from the catheter, and to hold or return the distal tip of the catheter to the desired working configuration when the imaging device has been removed from the catheter and a medical probe is deployed in the main lumen.