Torque-based catheter articulation
A robotic surgical system configured for the articulation of a catheter comprises an input device, a control computer, and an instrument driver having at least one motor for displacing the pull-wire of a steerable catheter wherein the control computer is configured to determine the desired motor torque or tension of the pull-wire of a catheter based on user manipulation of the input device. The control computer is configured to output the desired motor torque or tension of the pull-wire to the instrument driver, whereby at least one motor of the instrument driver implements the desired motor torque to cause the desired pull-wire tension to articulate the distal tip of the catheter.
1. A method comprising:
receiving a user command signal from a user input device;
generating a command torque signal in response to the user command signal;
rotating a rotatable body in response to the command torque signal, the rotatable body coupled to an elongate member, the elongate member coupled to a medical instrument and configured to articulate the medical instrument in response to rotation by the rotatable body;
detecting an actual torque by the rotatable body;
generating an actual torque signal in response to the actual torque detected by a torque sensor; and
adjusting the command torque signal in response to the actual torque signal;
wherein the detecting of the actual torque is performed by the torque sensor installed on the rotatable body;
wherein the rotatable body is a drive shaft.
2. The method of claim 1 , wherein the rotatable body is integrated into an instrument driver, the instrument driver comprising a motor, the motor configured to rotate the rotatable body in response to the command torque signal.
3. The method of claim 2 , wherein the rotatable body protrudes from a face of the instrument driver.
4. The method of claim 1 , wherein the elongate member is a pull wire.
5. The method of claim 1 , wherein the medical instrument comprises at least one of a catheter and an endoscope.