Patent ID: 9039608
Filing Date: 2015-05-26
Classification: A61B

Abstract:
1. A medical system comprising: a robotic endoscope having an elongate body including one or more bendable segments and a distal tip; a manipulator having one or more drivable joints for manipulating the robotic endoscope in corresponding degrees of freedom movement; an input control device; and a processor programmed to: receive a control input from the input control device; determine a current commanded state of the tip of the robotic endoscope from the control input wherein the current commanded state includes a commanded roll position and roll velocity; determine a roll angular adjustment by using a difference between a setpoint and the current commanded state of the tip of the robotic endoscope, wherein the setpoint indicates a desired roll orientation of a camera view captured at the tip of the robotic endoscope; determine a modified current commanded roll position by modifying the current commanded roll position to be conditionally related by the roll angular adjustment to a prior process period commanded roll position, and determine a modified current commanded roll velocity by modifying the current commanded roll velocity to be conditionally related by the roll angular adjustment to one of a constant and a function of the roll angular adjustment; modify the current commanded state by constraining the current commanded roll position and roll velocity to be the modified current commanded roll position and roll velocity; and command the tip of the robotic endoscope to be driven to the modified current commanded state.