Patent Document ID: 10143360
Application ID: 14164961
Patent Status: 1

Claim One:
1. A method of controlling advancement of a shapeable medical device within an anatomic path, the method comprising: processing a command from an input device to actuate the shapeable medical device into a desired configuration of one or more portions of the shapeable medical device; issuing a position control signal to one or more actuators based on a model of shapeable medical device mechanics to advance the shapeable medical device along the anatomic path; obtaining a plurality of localization data to determine a real shape of at least the one or more portions of the shapeable instrument when advanced along the anatomic path; and determining a differential between the real shape and the desired configuration of the one or more portions; and based on the differential between the real shape and the desired configuration of the one or more portions, updating the model of shapeable medical device mechanics and controlling advancement of the shapeable medical device based on the updated model.