Patent ID: 9173713
Filing Date: 2015-11-03
Classification: A61B,A61M

Abstract:
1. A robotic surgical system, comprising: an input device configured to receive a user commanded deflection of an elongate instrument and output desired elongate instrument positioning information, wherein the elongate instrument is positionable within an anatomical lumen of a patient and comprises a flexible shaft, an articulating distal tip, and an actuating pull-wire attached to the articulating distal tip, the pull-wire extending a length of the elongate instrument; a control system operatively connected to the input device, the control system configured to translate the desired elongate instrument positioning information into an output motor torque; and an instrument driver having a motor and operatively connected to the control system, wherein the motor is configured to rotate in accord with the output motor torque from the control system, and wherein rotation of the motor in accord with the output motor torque adjusts a tension in the pull-wire, such that the articulating distal tip of the elongate instrument reaches the commanded deflection independent of a curvature in the flexible shaft of the elongate instrument.