Patent ID: 9636483
Date: 2017-05-02
CPC Classifications: A61B,A61M

Claim:
1. A robotic catheter system, configured to insert a catheter within an anatomical lumen of a patient, the catheter comprising a flexible shaft, an articulating distal tip, and an actuating pull-wire attached to the articulating distal tip and extending a length of the catheter, the robotic surgical system comprising: a user input device configured to receive a commanded deflection of the articulating distal tip; a control system operatively connected to the user input device, the control system configured to translate the commanded deflection into a commanded motor torque value, and an instrument driver having a motor, the motor operatively connected to the control system as part of a motor servo and configured to apply the commanded motor torque value to adjust a tension in the pull-wire such that the articulating distal tip of the catheter reaches the commanded deflection, and wherein the robotic catheter system is further configured to detect a difference between the commanded motor torque value and an actual motor torque value and determine an adjustment needed to the commanded motor torque value to maintain a position of the articulating distal tip, and adjust an electrical current to the motor in order to adjust the actual torque motor value to maintain the position of the articulating distal tip.