Medical system with multiple operating modes for steering a medical instrument through linked body passages

摘要

A controller operates in different operating modes to control movement of a distal tip of a medical instrument when inserting and retracting the medical instrument through linked body passages. When inserting the medical instrument, the controller normally operates in an automatic navigation mode unless manually overridden to operate in a manual mode. When retracting the medical instrument, the controller normally operates in a zero-force mode to allow the distal tip to freely move so that it may comply with the shape of the passages as the medical instrument is being retracted through the linked body unless manually overridden to operate in a manual mode.

主权项

1. A medical system comprising:
a steerable medical instrument defining a central axis therethrough, the steerable medical instrument comprising a steerable tip at a distal end thereof; at least one actuator; and control means for: commanding the at least one actuator to actively steer the medical instrument according to a programmed navigation path according to an insertion control mode as the medical instrument moves in an insertion direction along the central axis through an anatomic passageway; transitioning from the insertion control mode to a manual override control mode in response to movement of an operator input device that is in contradiction to the programmed navigation path; and while in the manual override control mode, displaying on a display screen a graphical indication of a steering direction corresponding to the programmed navigation path.