SYSTEM FOR CONTROLLING AN INSTRUMENT USING SHAPE SENSORS

摘要

The present invention relates, generally, to controlling a steerable instrument having an elongate body. More particularly, the present invention relates to a system and method for sensing the shape of a steerable instrument and controlling the steerable instrument in response to a control signal from a user input device and a shape signal corresponding to the sensed shape of at least a portion of the steerable instrument. The present invention also relates to a system for sensing the shape of a flexible instrument with an optical shape sensor.

主权项

1. A system for controlling an instrument having an elongate body, the system comprising:
a plurality of articulating segments joined together along at least a portion of the elongate body; a user input device configured to provide a control signal to change a shape of at least one of the plurality of articulating segments; a sensor in contact with the elongate body configured to provide a shape signal corresponding to the shape of at least one of the plurality of articulating segments; and a controller in communication with the user input device and the sensor, wherein the controller directs the movement of at least one of the plurality of articulating segments in response to the control signal and the shape signal.