Patent ID: 8414469
Filing Date: 2013-04-09
Classification: A61B

Abstract:
1. A processor implemented method for commanding movement of an entry guide having an articulatable instrument and an articulatable camera extending out of a distal end of the entry guide, the method comprising: receiving a desired state of the articulatable camera from a user operated input device; determining a desired state of the entry guide to achieve the desired state of the articulatable camera; determining desired states of mechanical elements of an entry guide manipulator for effecting the desired state of the entry guide; and commanding the mechanical elements of the entry guide manipulator to be moved so as to effect the desired state of the entry guide while limiting the movements of the mechanical elements so as to avoid a resulting linear velocity of the tip of the articulatable instrument from exceeding a maximum allowable linear velocity for the tip of the articulatable instrument, wherein the linear velocity of the tip of the articulatable instrument is determined using a length that the tip of the articulatable instrument extends beyond the distal end of the entry guide.