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 minimally invasive surgical system comprising:
an instrument comprising a plurality of articulating segments; a user input device that provides a control signal to change the shape of the plurality of articulating segments; and a closed loop control system comprising a controller, an actuator coupled to the controller, and a shape sensor coupled to the controller and associated with the plurality of articulating segments; wherein the shape sensor provides a shape signal corresponding to the shape of the plurality of articulating segments; and wherein the controller directs movement of the plurality of articulating segments in response to the control signal from the user input device and the shape signal from the shape sensor; wherein the shape sensor comprises an optical fiber that spirals around the plurality of articulating segments.