Patent ID: 9717563
Date: 2017-08-01
CPC Classifications: A61B

Claim:
1. A medical system comprising: an entry guide; a first articulatable instrument controllably extending out of a distal end of the entry guide, the first articulatable instrument having a most proximal joint and a most distal joint, the most distal joint disposed beyond the distal end the entry guide; a display screen; and a processor programmed to receive information of states of the entry guide and the first articulatable instrument, generate a view by including a graphical representation of the most distal joint of the first articulatable instrument and a graphical representation of a spatial boundary for the first articulatable instrument, the spatial boundary being a function of a position of the most distal joint relative to the distal end of the entry guide, and the graphical representation being positioned in the view by using the received information and by using forward kinematics of the entry guide and the first articulatable instrument, and display the view on the display screen.